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

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).

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.

Instruction: Sharp right turn approaching

(The closest actor is a unknown object at [-3.2865791  5.141163 ], 6.101897716522217 meters away.)


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[-22.543709  26.05425 ]
 [-18.56395   29.112839]]

Instruction: Sharp right turn approaching


The ego vehicle 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

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).

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.

Instruction: Sharp right turn approaching


The ego vehicle 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

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).

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.

Instruction: Sharp right turn approaching


The ego vehicle 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

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).

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.

Instruction: Sharp right turn approaching


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

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).

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.

There are active red lights at the following coordinates: [[24.762127 30.632774]
 [23.321178 31.482086]]

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [ -8.372051 -12.369434], 14.936336517333984 meters away.)


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

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).

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.

There are active red lights at the following coordinates: [[24.762127 30.632774]
 [23.321178 31.482086]]

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: right u-turn approaching.


The ego vehicle 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

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).

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.

Instruction: right u-turn approaching.


The ego vehicle 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

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).

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.

Instruction: right u-turn approaching.


The ego vehicle 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

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).

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.

Instruction: right u-turn approaching.


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

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).

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.

Instruction: Continue straight.


The ego vehicle 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

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).

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.

Instruction: Continue straight.


The ego vehicle 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

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).

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.

Instruction: Continue straight.


The ego vehicle 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

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).

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.

Instruction: Continue straight.


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

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).

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.

There are active red lights at the following coordinates: [[ 27.818819 -41.90003 ]
 [ 27.547842 -41.567722]]

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

There are active red lights at the following coordinates: [[-70.58892   33.05819 ]
 [-72.87564   31.024736]]

Instruction: Continue straight.

(The closest actor is a pedestrian at [10.86031    7.4801445], 13.18707275390625 meters away.)


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

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).

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.

Instruction: Continue straight.


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

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).

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.

There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]
 [-36.320633 -31.075619]]

Instruction: Continue straight.


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]
 [-36.320633 -31.075619]]

Instruction: Continue straight.


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]
 [-36.320633 -31.075619]]

Instruction: Continue straight.


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[-34.268116 -28.45687 ]
 [-36.320633 -31.075619]]

Instruction: Continue straight.


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[14.361975 -9.367268]]

Instruction: Sharp right turn approaching


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

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).

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.

There are active red lights at the following coordinates: [[14.361975 -9.367268]]

Instruction: Sharp right turn approaching


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[14.361975 -9.367268]]

Instruction: Sharp right turn approaching


The ego vehicle 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

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).

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.

There are active red lights at the following coordinates: [[14.361975 -9.367268]]

Instruction: Sharp right turn approaching


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

There are active red lights at the following coordinates: [[11.37599   23.776989 ]
 [14.6922655 22.589718 ]]

Instruction: Slight right turn approaching.


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

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).

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.

There are active red lights at the following coordinates: [[11.37599   23.776989 ]
 [14.6922655 22.589718 ]]

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: Slight right turn approaching.


The ego vehicle 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

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).

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.

Instruction: Slight right turn approaching.


The ego vehicle 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

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).

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.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 2 is 41.8 meters away at (-16.0, 38.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 2 is 65.6 meters away at (-23.6, 61.3).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

There are no other relevant actors in the scene.

Instruction: Continue straight.


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

There are no other relevant actors in the scene.

Instruction: Continue straight.


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

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).

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.

Instruction: Slight right turn approaching.

(The closest actor is a pedestrian at [10.737149  8.934961], 13.96853256225586 meters away.)


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

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).

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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-12.309654   8.563351], 14.995285034179688 meters away.)


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

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).

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.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-8.1563225 18.318727 ], 20.052465438842773 meters away.)


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

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).

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.

Instruction: Slight right turn approaching.


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

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).

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.

There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]
 [ 0.6080678 22.83097  ]]

Instruction: Slight right turn approaching.


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

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).

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.

There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]
 [ 0.6080678 22.83097  ]]

Instruction: Slight right turn approaching.


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

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).

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.

There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]
 [ 0.6080678 22.83097  ]]

Instruction: Slight right turn approaching.


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

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).

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.

There are active red lights at the following coordinates: [[ 1.7869513 24.700575 ]
 [ 0.6080678 22.83097  ]]

Instruction: Slight right turn approaching.


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

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).

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.

Instruction: right u-turn approaching.


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

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).

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.

Instruction: right u-turn approaching.


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

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).

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.

Instruction: right u-turn approaching.


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

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).

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.

Instruction: right u-turn approaching.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.


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

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).

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.

Instruction: Continue straight.