The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 1.1) m/s. Its current heading (yaw) is 2.25

The most relevant actors are: A vehicle with ID 77 is 9.8 meters away at (9.5, -2.5). A pedestrian with ID 22 is 10.9 meters away at (-0.3, 10.9). A pedestrian with ID 81 is 11.9 meters away at (11.8, -1.2). A vehicle with ID 105 is 12.5 meters away at (-3.0, -12.2). A pedestrian with ID 64 is 12.6 meters away at (12.5, -1.3). A pedestrian with ID 82 is 12.8 meters away at (12.6, -1.9). A vehicle with ID 84 is 15.0 meters away at (1.0, -15.0). A unknown object with ID 89 is 15.1 meters away at (-8.7, -12.3). A unknown object with ID 87 is 15.3 meters away at (-6.1, -14.0). A vehicle with ID 85 is 16.1 meters away at (15.0, -5.8).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.2052175  -0.32455787] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.00560554 0.00291556] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 0.00704942 -0.00129295] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.5) m/s. Its current heading (yaw) is 1.87

The most relevant actors are: A pedestrian with ID 22 is 7.9 meters away at (3.8, 6.9). A vehicle with ID 77 is 13.0 meters away at (11.6, -5.9). A pedestrian with ID 64 is 14.7 meters away at (13.9, -4.7). A pedestrian with ID 82 is 15.6 meters away at (14.7, -5.3). A vehicle with ID 105 is 15.7 meters away at (-1.0, -15.7). A unknown object with ID 86 is 16.1 meters away at (-5.5, 15.2). A unknown object with ID 91 is 16.2 meters away at (-8.5, 13.8). A unknown object with ID 89 is 17.1 meters away at (-6.6, -15.8). A unknown object with ID 87 is 18.0 meters away at (-3.9, -17.6). A unknown object with ID 41 is 18.0 meters away at (-8.2, -16.1).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.85212755 -0.20565417] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.01462771 0.00888793] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.03460601 0.00909839] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching

(The closest actor is a pedestrian at [3.776534  6.9440627], 7.904569149017334 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 3.0) m/s. Its current heading (yaw) is 1.14

The most relevant actors are: A pedestrian with ID 22 is 5.7 meters away at (5.5, 1.5). A unknown object with ID 86 is 10.6 meters away at (-5.7, 8.9). A unknown object with ID 91 is 11.5 meters away at (-8.6, 7.6). A unknown object with ID 83 is 12.9 meters away at (-3.1, 12.5). A unknown object with ID 109 is 14.7 meters away at (-11.3, 9.3). A vehicle with ID 24 is 14.9 meters away at (6.5, 13.5). A vehicle with ID 77 is 16.6 meters away at (11.3, -12.2). A pedestrian with ID 64 is 17.6 meters away at (13.8, -11.0). A unknown object with ID 116 is 17.9 meters away at (-14.1, 11.0). A unknown object with ID 80 is 18.2 meters away at (1.0, 18.2).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.8169014  0.51579076] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.5856822 -3.8306096] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00736117 -0.01413252] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a pedestrian at [5.512912  1.4880867], 5.710218906402588 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 4.4) m/s. Its current heading (yaw) is 0.94

The most relevant actors are: A vehicle with ID 24 is 4.2 meters away at (-4.2, -0.3). A pedestrian with ID 22 is 5.2 meters away at (1.9, -4.8). A unknown object with ID 83 is 9.6 meters away at (-8.2, 4.9). A unknown object with ID 86 is 10.9 meters away at (-10.8, 1.4). A unknown object with ID 80 is 11.4 meters away at (-4.0, 10.7). A unknown object with ID 91 is 13.7 meters away at (-13.7, 0.2). A unknown object with ID 124 is 15.7 meters away at (0.1, 15.7). A unknown object with ID 109 is 16.5 meters away at (-16.4, 1.9). A vehicle with ID 26 is 18.1 meters away at (13.5, 12.1). A unknown object with ID 116 is 19.5 meters away at (-19.1, 3.7).

The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.9678192 -2.262122 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.6464738 0.6919428] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.1) m/s. Its current heading (yaw) is 1.20

The most relevant actors are: A pedestrian with ID 26 is 28.5 meters away at (26.0, 11.5). A pedestrian with ID 28 is 29.2 meters away at (23.5, 17.3). A pedestrian with ID 31 is 31.0 meters away at (19.5, 24.1). A vehicle with ID 2 is 34.7 meters away at (-21.7, -27.0). A unknown object with ID 21 is 34.8 meters away at (9.3, 33.6). A pedestrian with ID 32 is 35.2 meters away at (-2.4, 35.1). A unknown object with ID 35 is 45.2 meters away at (32.5, 31.4). A pedestrian with ID 23 is 45.6 meters away at (-23.1, -39.4). A pedestrian with ID 24 is 45.7 meters away at (-24.8, -38.3). A cyclist with ID 29 is 47.6 meters away at (-43.8, -18.4).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.39588577 1.2167274 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.01019832 0.00207789] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.190593  -0.2785933] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.713542  1.8482354] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.64652276 -0.50602466] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.3734315 -1.321108 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.33145273 -1.2281363 ] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 2.9038072 -1.2146422] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.4) m/s. Its current heading (yaw) is 1.24

The most relevant actors are: A pedestrian with ID 28 is 18.4 meters away at (18.2, 3.0). A pedestrian with ID 31 is 18.9 meters away at (16.6, 9.1). A pedestrian with ID 32 is 20.7 meters away at (-6.8, 19.6). A unknown object with ID 20 is 36.6 meters away at (-20.7, -30.2). A vehicle with ID 2 is 38.8 meters away at (-17.0, -34.9). A cyclist with ID 29 is 55.6 meters away at (-42.9, -35.4). A pedestrian with ID 30 is 55.8 meters away at (-43.4, -35.1). A pedestrian with ID 24 is 63.1 meters away at (-30.8, -55.0). A pedestrian with ID 23 is 63.6 meters away at (-29.2, -56.4). A vehicle with ID 25 is 66.1 meters away at (-37.4, -54.5).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01707862  0.02977722] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1659567 -0.3502461] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.33846995 -0.5525486 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [4.8055396 4.977543 ] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 3.0051436 -1.1130387] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 2.6636982 -0.9194732] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.33994204 -1.0619662 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.75862443 -1.227164  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.4) m/s. Its current heading (yaw) is 1.22

The most relevant actors are: A pedestrian with ID 32 is 11.7 meters away at (-11.0, 4.0). A pedestrian with ID 31 is 14.4 meters away at (13.1, -6.0). A pedestrian with ID 12 is 14.8 meters away at (13.1, -6.8). A pedestrian with ID 28 is 17.3 meters away at (12.9, -11.5). A vehicle with ID 2 is 39.6 meters away at (-13.9, -37.1). A cyclist with ID 29 is 65.9 meters away at (-42.0, -50.7). A pedestrian with ID 30 is 66.0 meters away at (-42.3, -50.7). A vehicle with ID 39 is 79.4 meters away at (-54.5, -57.7). A pedestrian with ID 24 is 80.8 meters away at (-36.6, -72.1). A vehicle with ID 25 is 81.3 meters away at (-42.6, -69.3).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.60095173 -0.40960005] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.21671946 0.10651401] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.05627876 0.0251723 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.00374262 0.02748024] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.5515335 7.2178164] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 3.5520077  -0.15473686] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 3.1576846  -0.18140838] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.6956906 -1.8626635] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.12782082 -1.3521652 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-17.98749  -30.273043]
 [-16.193876 -27.307497]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.5) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A pedestrian with ID 32 is 19.5 meters away at (-15.8, -11.5). A pedestrian with ID 13 is 21.4 meters away at (-20.2, -7.1). A pedestrian with ID 31 is 22.4 meters away at (7.7, -21.0). A pedestrian with ID 28 is 27.4 meters away at (7.6, -26.4). A vehicle with ID 2 is 39.0 meters away at (-12.8, -36.8). A cyclist with ID 29 is 76.4 meters away at (-41.6, -64.1). A pedestrian with ID 30 is 76.9 meters away at (-41.7, -64.6).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.17303032 -0.18037997] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.98527473 -0.7659194 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00658969 -0.01977112] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01481741  0.00776703] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.3321378 7.8361197] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [2.4794753 1.617586 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [2.847604  0.6196771] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.4) m/s. Its current heading (yaw) is 0.91

The most relevant actors are: A vehicle with ID 71 is 7.0 meters away at (1.4, 6.9). A vehicle with ID 73 is 16.7 meters away at (10.5, 13.0). A unknown object with ID 82 is 24.7 meters away at (4.1, 24.4). A unknown object with ID 83 is 25.3 meters away at (6.4, 24.4). A unknown object with ID 41 is 25.6 meters away at (7.2, 24.5). A unknown object with ID 85 is 26.0 meters away at (8.2, 24.6). A pedestrian with ID 84 is 26.2 meters away at (6.9, 25.3). A pedestrian with ID 86 is 26.4 meters away at (8.1, 25.2). A unknown object with ID 37 is 26.5 meters away at (9.2, 24.8). A unknown object with ID 87 is 26.9 meters away at (9.8, 25.0).

The vehicle with ID 71 is traveling at a (x, y) velocity of [1.5036799 1.8985746] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [3.6527853 4.271336 ] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.0040938   0.00427454] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.00017995 -0.01579533] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 2.7) m/s. Its current heading (yaw) is 0.89

The most relevant actors are: A vehicle with ID 71 is 9.5 meters away at (3.0, 9.0). A vehicle with ID 97 is 11.6 meters away at (11.6, 1.0). A unknown object with ID 40 is 16.5 meters away at (16.3, -2.1). A unknown object with ID 82 is 20.2 meters away at (0.8, 20.2). A unknown object with ID 83 is 20.5 meters away at (2.9, 20.3). A unknown object with ID 85 is 21.0 meters away at (4.7, 20.5). A pedestrian with ID 86 is 21.5 meters away at (4.8, 21.0). A pedestrian with ID 84 is 21.5 meters away at (3.4, 21.3). A unknown object with ID 34 is 21.6 meters away at (0.1, 21.6). A unknown object with ID 87 is 21.8 meters away at (6.5, 20.8).

The vehicle with ID 71 is traveling at a (x, y) velocity of [3.3758197 4.311929 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [-5.886157  -7.4660416] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.00535671  0.00274925] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.11648835  0.01212583] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 3.1) m/s. Its current heading (yaw) is 0.70

The most relevant actors are: A unknown object with ID 40 is 13.5 meters away at (10.8, -8.2). A vehicle with ID 71 is 13.9 meters away at (5.3, 12.9). A unknown object with ID 36 is 14.4 meters away at (-1.4, 14.3). A unknown object with ID 85 is 14.4 meters away at (-0.6, 14.4). A unknown object with ID 83 is 14.4 meters away at (-2.6, 14.2). A unknown object with ID 87 is 14.8 meters away at (1.1, 14.8). A unknown object with ID 82 is 14.9 meters away at (-4.8, 14.1). A pedestrian with ID 86 is 14.9 meters away at (-0.9, 14.9). A unknown object with ID 89 is 15.0 meters away at (1.5, 15.0). A pedestrian with ID 84 is 15.5 meters away at (-2.4, 15.3).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.1926584 5.2696643] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.10294104 -0.00657444] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.03351219 -0.00534453] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [10.800176 -8.153351], 13.532217979431152 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 1.2) m/s. Its current heading (yaw) is 0.20

The most relevant actors are: A unknown object with ID 40 is 12.8 meters away at (1.3, -12.7). A unknown object with ID 89 is 13.1 meters away at (-8.2, 10.3). A unknown object with ID 87 is 13.1 meters away at (-8.3, 10.2). A unknown object with ID 75 is 14.0 meters away at (-7.9, 11.5). A unknown object with ID 85 is 14.1 meters away at (-10.2, 9.8). A unknown object with ID 39 is 14.6 meters away at (14.2, 3.1). A unknown object with ID 95 is 14.8 meters away at (14.3, 3.9). A pedestrian with ID 86 is 15.1 meters away at (-10.9, 10.4). A unknown object with ID 66 is 15.4 meters away at (15.2, 2.6). A unknown object with ID 83 is 15.6 meters away at (-12.3, 9.5).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.01909641 -0.00402719] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [  1.3322659 -12.726387 ], 12.795930862426758 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -4.2) m/s. Its current heading (yaw) is -1.73

The most relevant actors are: A vehicle with ID 50 is 5.9 meters away at (-5.1, -3.1). A vehicle with ID 51 is 14.4 meters away at (-12.7, 6.9). A cyclist with ID 61 is 27.5 meters away at (-2.7, -27.4). A vehicle with ID 55 is 29.2 meters away at (-27.6, -9.5). A pedestrian with ID 57 is 31.0 meters away at (-29.8, 8.5). A vehicle with ID 75 is 31.6 meters away at (3.1, 31.5). A pedestrian with ID 58 is 31.7 meters away at (-29.8, 10.8). A pedestrian with ID 59 is 32.1 meters away at (-30.6, 9.6). A vehicle with ID 66 is 32.3 meters away at (3.3, -32.1). A vehicle with ID 64 is 32.6 meters away at (-1.8, -32.6).

The vehicle with ID 50 is traveling at a (x, y) velocity of [ -4.6024704 -14.080075 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.4394436 -6.336449 ] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [-0.04945125  0.03401431] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-4.7031226  -0.74963444] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.00682197 0.0147102 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ -5.747324 -12.591705] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.01665974 -0.0260469 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00800483 -0.00878765] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.2434549   0.79860455] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -4.0) m/s. Its current heading (yaw) is -1.43

The most relevant actors are: A vehicle with ID 75 is 16.2 meters away at (-7.2, 14.5). A cyclist with ID 61 is 19.2 meters away at (-2.4, -19.1). A vehicle with ID 51 is 20.0 meters away at (-19.5, 4.4). A vehicle with ID 66 is 23.6 meters away at (2.6, -23.4). A vehicle with ID 64 is 24.3 meters away at (-1.7, -24.3). A vehicle with ID 69 is 27.2 meters away at (-3.6, -26.9). A vehicle with ID 50 is 27.5 meters away at (-13.2, -24.1). A vehicle with ID 79 is 28.5 meters away at (8.5, -27.2). A vehicle with ID 71 is 29.4 meters away at (5.6, -28.8). A vehicle with ID 76 is 31.1 meters away at (2.6, -31.0).

The vehicle with ID 75 is traveling at a (x, y) velocity of [ -4.5995126 -12.870268 ] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [ 0.04644938 -0.01743951] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-5.3321066 -4.367463 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-0.31938562  0.20383297] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ -3.3951938 -15.37593  ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-0.7374299   0.42049575] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -4.3) m/s. Its current heading (yaw) is -1.09

The most relevant actors are: A cyclist with ID 61 is 12.0 meters away at (-4.9, -10.9). A vehicle with ID 66 is 15.2 meters away at (0.1, -15.2). A vehicle with ID 90 is 15.9 meters away at (-6.7, 14.4). A vehicle with ID 64 is 16.6 meters away at (-4.2, -16.1). A vehicle with ID 75 is 18.2 meters away at (-17.9, -3.6). A vehicle with ID 79 is 19.4 meters away at (5.4, -18.6). A vehicle with ID 69 is 19.7 meters away at (-6.0, -18.7). A vehicle with ID 71 is 20.8 meters away at (3.0, -20.6). A vehicle with ID 76 is 22.8 meters away at (0.0, -22.8). A vehicle with ID 52 is 26.2 meters away at (9.0, -24.6).

The cyclist with ID 61 is traveling at a (x, y) velocity of [0.00906367 0.03057392] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ -4.434801 -12.299873] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ -3.6215672 -13.3940935] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -4.0) m/s. Its current heading (yaw) is -0.70

The most relevant actors are: A vehicle with ID 66 is 9.4 meters away at (-6.8, -6.4). A vehicle with ID 79 is 10.0 meters away at (-1.5, -9.9). A cyclist with ID 61 is 12.0 meters away at (-11.8, -2.1). A vehicle with ID 71 is 12.5 meters away at (-3.9, -11.9). A vehicle with ID 64 is 13.2 meters away at (-11.0, -7.4). A vehicle with ID 76 is 15.6 meters away at (-7.0, -14.0). A vehicle with ID 52 is 16.0 meters away at (2.0, -15.9). A vehicle with ID 69 is 16.4 meters away at (-12.9, -10.1). A vehicle with ID 33 is 18.5 meters away at (-12.2, -13.9). A vehicle with ID 90 is 21.6 meters away at (-21.6, -1.6).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [-0.02715482  0.02129814] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [ -3.4619923 -12.880587 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.7) m/s. Its current heading (yaw) is 2.74

The most relevant actors are: A vehicle with ID 2 is 3.7 meters away at (1.8, 3.3). A vehicle with ID 10 is 13.4 meters away at (13.3, -1.4). A pedestrian with ID 63 is 21.3 meters away at (-17.3, -12.5). A pedestrian with ID 67 is 21.5 meters away at (-18.0, -11.9). A vehicle with ID 60 is 24.0 meters away at (22.3, -8.9). A pedestrian with ID 62 is 30.6 meters away at (-30.1, 5.4). A pedestrian with ID 56 is 31.5 meters away at (-30.1, 9.3). A pedestrian with ID 57 is 32.4 meters away at (-31.0, 9.4). A pedestrian with ID 37 is 37.5 meters away at (-23.1, 29.6). A pedestrian with ID 27 is 38.1 meters away at (-23.2, 30.2).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.73829263 0.44048077] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.0363058 -0.6278883] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-6.6055646  2.6932962] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00856591  0.02612288] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.01782761 0.08021377] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.03494954 0.05932479] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.00665178 0.02314652] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01587554 0.00308929] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.1) m/s. Its current heading (yaw) is 2.76

The most relevant actors are: A vehicle with ID 2 is 4.2 meters away at (3.2, 2.7). A vehicle with ID 60 is 14.3 meters away at (13.3, -5.2). A vehicle with ID 10 is 15.1 meters away at (14.9, -2.2). A pedestrian with ID 63 is 18.7 meters away at (-14.3, -12.0). A pedestrian with ID 67 is 23.1 meters away at (-18.0, -14.4). A pedestrian with ID 62 is 28.9 meters away at (-28.5, 4.8). A pedestrian with ID 56 is 29.9 meters away at (-28.6, 8.8). A pedestrian with ID 57 is 30.7 meters away at (-29.3, 9.0). A pedestrian with ID 37 is 36.1 meters away at (-21.4, 29.0). A pedestrian with ID 44 is 36.8 meters away at (-22.0, 29.5).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-3.8005528  1.5774364] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.8112857 0.5822526] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.59030575 -1.1085111 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00729499  0.00763775] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.0010063  0.00811225] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.00374837 0.01906153] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.01678484 -0.00298521] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.01306554 -0.0127132 ] m/s.

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 2.76

The most relevant actors are: A vehicle with ID 2 is 4.2 meters away at (3.2, 2.7). A vehicle with ID 60 is 8.7 meters away at (8.1, -3.1). A vehicle with ID 10 is 15.3 meters away at (15.1, -2.3). A pedestrian with ID 63 is 17.2 meters away at (-13.0, -11.2). A pedestrian with ID 67 is 25.1 meters away at (-18.7, -16.8). A pedestrian with ID 62 is 28.7 meters away at (-28.4, 4.7). A pedestrian with ID 56 is 29.6 meters away at (-28.3, 8.7). A pedestrian with ID 57 is 30.5 meters away at (-29.2, 8.9). A pedestrian with ID 37 is 35.5 meters away at (-20.8, 28.7). A pedestrian with ID 64 is 36.2 meters away at (-35.8, -5.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-1.3967187   0.58226556] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.20978394 0.11039045] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.5259428 -1.1385632] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00594033 -0.01033919] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.01112652 -0.00755339] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.00743162 0.00238154] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.11107235 -0.3840402 ] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.5692152 1.2788345] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.7) m/s. Its current heading (yaw) is 2.73

The most relevant actors are: A vehicle with ID 2 is 3.9 meters away at (2.4, 3.0). A vehicle with ID 60 is 8.5 meters away at (7.9, -3.0). A vehicle with ID 10 is 15.7 meters away at (15.5, -2.4). A pedestrian with ID 63 is 16.4 meters away at (-11.7, -11.5). A cyclist with ID 34 is 25.5 meters away at (-25.2, 3.3). A pedestrian with ID 62 is 25.5 meters away at (-25.3, 3.4). A pedestrian with ID 67 is 26.9 meters away at (-18.2, -19.7). A pedestrian with ID 56 is 28.1 meters away at (-26.9, 8.1). A pedestrian with ID 57 is 29.0 meters away at (-27.8, 8.4). A cyclist with ID 25 is 33.0 meters away at (-21.0, 25.4).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.131306   0.9233762] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-0.6199035   0.27638447] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.9382862   0.41202772] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.38992518 0.48148227] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [ 1.3066667  -0.58238786] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.3134724 -0.5702685] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.4993213 -1.1990103] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.03848428 0.02663411] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.02008188 0.02110617] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [ 4.0877943 -1.5359095] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 6.0) m/s. Its current heading (yaw) is 2.42

The most relevant actors are: A vehicle with ID 74 is 8.2 meters away at (-3.3, -7.6). A pedestrian with ID 87 is 12.6 meters away at (-2.7, 12.3). A vehicle with ID 79 is 17.5 meters away at (16.9, 4.3). A vehicle with ID 11 is 18.5 meters away at (13.9, -12.1). A vehicle with ID 95 is 18.7 meters away at (-10.8, 15.2). A vehicle with ID 68 is 20.2 meters away at (17.8, -9.4). A pedestrian with ID 71 is 21.5 meters away at (20.8, -5.4). A pedestrian with ID 70 is 21.6 meters away at (20.7, -6.2). A vehicle with ID 75 is 24.1 meters away at (23.8, 3.6). A unknown object with ID 55 is 26.8 meters away at (-26.5, 3.8).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.802949  -0.8433797] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-1.5066134 -2.3257322] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.6232734  5.908559 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.31613684 -0.38924444] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.02078709 -0.0092469 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.01833837 -0.01580649] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-25.687319  22.14567 ]
 [-27.191933  18.769976]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 6.1) m/s. Its current heading (yaw) is 2.43

The most relevant actors are: A vehicle with ID 95 is 4.2 meters away at (3.0, 3.0). A unknown object with ID 63 is 7.2 meters away at (-0.1, 7.2). A pedestrian with ID 38 is 12.3 meters away at (1.5, 12.2). A unknown object with ID 59 is 12.8 meters away at (-12.8, 0.5). A pedestrian with ID 87 is 13.2 meters away at (13.0, -1.7). A pedestrian with ID 101 is 13.4 meters away at (3.0, 13.0). A unknown object with ID 55 is 15.3 meters away at (-13.0, -8.0). A vehicle with ID 11 is 18.0 meters away at (13.6, -11.8). A vehicle with ID 45 is 20.9 meters away at (-16.2, -13.3). A unknown object with ID 25 is 21.5 meters away at (-15.3, 15.1).

The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00327918  0.00523825] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.8666525 -0.7756686] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.00921523  0.00611418] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.681757   6.8315134] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-27.191933  18.769976]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.9) m/s. Its current heading (yaw) is 2.51

The most relevant actors are: A unknown object with ID 25 is 4.1 meters away at (-1.4, 3.9). A unknown object with ID 59 is 10.7 meters away at (1.0, -10.6). A unknown object with ID 63 is 14.2 meters away at (13.7, -4.0). A vehicle with ID 11 is 14.9 meters away at (11.9, -9.1). A pedestrian with ID 38 is 15.4 meters away at (15.3, 1.1). A pedestrian with ID 101 is 17.0 meters away at (16.9, 1.8). A vehicle with ID 95 is 18.7 meters away at (16.7, -8.2). A vehicle with ID 40 is 20.4 meters away at (-18.7, 8.3). A vehicle with ID 45 is 24.5 meters away at (-2.5, -24.3). A vehicle with ID 13 is 28.8 meters away at (-24.2, 15.6).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.691365   6.5156083] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00515138 -0.0198935 ] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.02009188 -0.03759035] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 5.5471773 -3.4451938] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.1100774  4.164634 ] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [-1.3702393  3.898098 ], 4.131915092468262 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.2) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A unknown object with ID 41 is 4.5 meters away at (4.5, 0.1). A unknown object with ID 56 is 5.4 meters away at (-1.8, -5.0). A unknown object with ID 43 is 5.7 meters away at (-3.3, 4.7). A vehicle with ID 40 is 7.8 meters away at (3.9, -6.7). A unknown object with ID 62 is 10.0 meters away at (-10.0, -0.1). A vehicle with ID 11 is 12.7 meters away at (10.8, -6.8). A unknown object with ID 25 is 13.2 meters away at (12.1, -5.2). A unknown object with ID 21 is 14.2 meters away at (-10.9, 9.2). A pedestrian with ID 20 is 18.2 meters away at (-11.0, 14.5). A unknown object with ID 28 is 18.8 meters away at (-18.2, 4.8).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 3.6063788 -2.6371934] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.9293094  4.5321374] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.3505296   0.83122474] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-34.323517  22.325392]
 [-33.38702   23.119564]]

Instruction: Continue straight.

(The closest actor is a unknown object at [4.461975   0.10221863], 4.463145732879639 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -5.1) m/s. Its current heading (yaw) is -2.07

The most relevant actors are: A vehicle with ID 74 is 10.6 meters away at (9.4, 5.0). A pedestrian with ID 22 is 13.7 meters away at (3.8, -13.1). A pedestrian with ID 76 is 14.2 meters away at (7.1, -12.3). A vehicle with ID 72 is 14.2 meters away at (6.5, 12.6). A vehicle with ID 13 is 19.6 meters away at (-9.3, -17.3). A unknown object with ID 84 is 26.7 meters away at (-20.5, -17.2). A vehicle with ID 79 is 32.5 meters away at (-18.0, -27.1). A vehicle with ID 75 is 33.2 meters away at (19.0, 27.2). A unknown object with ID 80 is 36.5 meters away at (29.1, 22.2). A vehicle with ID 81 is 39.8 meters away at (21.4, 33.5).

The vehicle with ID 74 is traveling at a (x, y) velocity of [4.502367 7.933707] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.49198812 -1.1268165 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.743199  1.3774855] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.7637511 -3.5212605] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.7870092 -5.325708 ] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-2.7819297 -5.6236296] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -5.8) m/s. Its current heading (yaw) is -2.06

The most relevant actors are: A pedestrian with ID 22 is 9.1 meters away at (8.3, -3.8). A pedestrian with ID 76 is 14.7 meters away at (14.6, 2.0). A unknown object with ID 84 is 15.5 meters away at (-14.4, -5.8). A vehicle with ID 72 is 17.6 meters away at (8.4, 15.5). A vehicle with ID 13 is 18.1 meters away at (-8.4, -16.1). A pedestrian with ID 7 is 29.8 meters away at (-19.0, -23.0). A vehicle with ID 79 is 31.1 meters away at (-17.6, -25.7). A unknown object with ID 73 is 35.2 meters away at (-26.7, -23.0). A vehicle with ID 74 is 38.7 meters away at (23.7, 30.6). A cyclist with ID 71 is 40.9 meters away at (-6.1, -40.4).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8926358 -1.322    ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.6567874 1.2996049] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.7588933 -5.241943 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-2.3978543 -4.741124 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.02736186 -0.0564003 ] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-3.3601997 -4.022228 ] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [3.37168   5.8334665] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-1.394035    0.83692825] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a pedestrian at [ 8.297196  -3.7697334], 9.11341667175293 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.6) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A pedestrian with ID 22 is 12.8 meters away at (12.3, 3.4). A vehicle with ID 13 is 15.1 meters away at (-6.8, -13.5). A vehicle with ID 72 is 17.4 meters away at (8.2, 15.3). A pedestrian with ID 7 is 19.5 meters away at (-14.0, -13.5). A pedestrian with ID 76 is 25.5 meters away at (21.2, 14.2). A unknown object with ID 73 is 25.7 meters away at (-21.8, -13.6). A unknown object with ID 44 is 27.1 meters away at (-24.4, -11.8). A unknown object with ID 11 is 28.2 meters away at (-25.8, -11.4). A vehicle with ID 79 is 29.3 meters away at (-21.1, -20.3). A cyclist with ID 71 is 30.4 meters away at (-1.9, -30.4).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.423383  -1.2460649] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.2151985 -2.5008676] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.4280174 -4.389472 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.00780105 -0.01783539] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.8183286 1.3184804] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-5.4281917   0.18831718] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-0.01672393 -0.01168196] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.4) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 70 is 9.2 meters away at (0.5, -9.2). A vehicle with ID 72 is 13.2 meters away at (6.2, 11.6). A vehicle with ID 13 is 14.2 meters away at (-6.2, -12.8). A pedestrian with ID 7 is 14.5 meters away at (-11.5, -8.8). A pedestrian with ID 22 is 14.9 meters away at (13.6, 5.9). A unknown object with ID 73 is 21.2 meters away at (-19.3, -8.9). A unknown object with ID 44 is 23.1 meters away at (-21.9, -7.3). A unknown object with ID 11 is 24.2 meters away at (-23.3, -6.7). A cyclist with ID 71 is 25.6 meters away at (0.6, -25.6). A vehicle with ID 14 is 29.2 meters away at (-11.1, -27.1).

The vehicle with ID 70 is traveling at a (x, y) velocity of [3.3415449 7.4733934] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.5970548 -2.9336565] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.027162  -2.3150568] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.0058051  -0.00630637] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.6786428 -1.0795995] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [0.00558032 0.00280362] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.11901632 -3.5105975 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 10.5) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 7 is 20.6 meters away at (-9.1, 18.4). A vehicle with ID 8 is 24.0 meters away at (-18.2, 15.5). A vehicle with ID 9 is 26.4 meters away at (-12.7, 23.2). A vehicle with ID 10 is 30.2 meters away at (-22.1, 20.7). A vehicle with ID 11 is 33.2 meters away at (-16.5, 28.7). A vehicle with ID 12 is 37.1 meters away at (-26.1, 26.4). A vehicle with ID 13 is 39.0 meters away at (-20.0, 33.5). A vehicle with ID 14 is 44.0 meters away at (-30.1, 32.0). A vehicle with ID 15 is 45.9 meters away at (-24.0, 39.2). A vehicle with ID 16 is 51.1 meters away at (-34.1, 38.1).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 10.1) m/s. Its current heading (yaw) is 2.19

The most relevant actors are: A vehicle with ID 9 is 3.2 meters away at (2.0, 2.5). A vehicle with ID 7 is 6.0 meters away at (5.5, -2.2). A vehicle with ID 8 is 6.3 meters away at (-3.6, -5.2). A vehicle with ID 10 is 7.4 meters away at (-7.4, -0.1). A vehicle with ID 11 is 8.2 meters away at (-1.8, 8.0). A vehicle with ID 12 is 12.6 meters away at (-11.3, 5.6). A vehicle with ID 13 is 13.8 meters away at (-5.2, 12.8). A vehicle with ID 14 is 19.0 meters away at (-15.4, 11.2). A vehicle with ID 15 is 20.5 meters away at (-9.2, 18.4). A vehicle with ID 16 is 26.0 meters away at (-19.4, 17.2).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 10.0) m/s. Its current heading (yaw) is 2.14

The most relevant actors are: A vehicle with ID 15 is 5.0 meters away at (4.8, -1.4). A vehicle with ID 16 is 6.1 meters away at (-5.5, -2.7). A vehicle with ID 14 is 8.7 meters away at (-1.5, -8.6). A vehicle with ID 13 is 11.2 meters away at (8.7, -7.0). A vehicle with ID 12 is 14.5 meters away at (2.6, -14.2). A vehicle with ID 11 is 17.0 meters away at (12.2, -11.9). A vehicle with ID 10 is 20.9 meters away at (6.5, -19.9). A vehicle with ID 9 is 23.7 meters away at (16.0, -17.5). A vehicle with ID 8 is 27.1 meters away at (10.5, -25.0). A vehicle with ID 7 is 29.7 meters away at (19.6, -22.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 10.4) m/s. Its current heading (yaw) is 1.93

The most relevant actors are: A vehicle with ID 16 is 23.4 meters away at (4.7, -22.9). A vehicle with ID 15 is 26.6 meters away at (15.1, -21.8). A vehicle with ID 14 is 30.2 meters away at (8.8, -28.9). A vehicle with ID 13 is 33.5 meters away at (19.2, -27.4). A vehicle with ID 12 is 36.9 meters away at (12.9, -34.6). A vehicle with ID 11 is 39.5 meters away at (22.8, -32.3). A vehicle with ID 10 is 43.6 meters away at (16.9, -40.2). A vehicle with ID 9 is 46.1 meters away at (26.3, -37.9). A vehicle with ID 8 is 49.9 meters away at (20.8, -45.3).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 1.6) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 61 is 6.2 meters away at (-6.2, 0.2). A vehicle with ID 62 is 6.5 meters away at (-2.9, 5.8). A vehicle with ID 59 is 11.0 meters away at (9.6, 5.4). A vehicle with ID 64 is 13.8 meters away at (9.6, 10.0). A vehicle with ID 67 is 14.2 meters away at (-13.4, -4.9). A vehicle with ID 69 is 14.6 meters away at (-14.5, -1.1). A vehicle with ID 68 is 17.0 meters away at (8.6, 14.7). A unknown object with ID 79 is 19.7 meters away at (19.4, -3.4). A pedestrian with ID 65 is 20.4 meters away at (20.4, 1.4). A pedestrian with ID 66 is 21.4 meters away at (21.4, 1.2).

The vehicle with ID 61 is traveling at a (x, y) velocity of [2.8106928 1.8205038] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [3.6247346 2.415385 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [2.8187153 1.7961076] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [5.5052176 3.8325312] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0.99395585 0.6113433 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [3.1693883 1.9671096] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [4.3938904 4.094665 ] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.6966403  0.9457245] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.67454433  1.019594  ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 1.9) m/s. Its current heading (yaw) is 0.56

The most relevant actors are: A vehicle with ID 61 is 4.6 meters away at (-4.4, 1.4). A vehicle with ID 62 is 8.2 meters away at (-0.2, 8.2). A vehicle with ID 59 is 10.8 meters away at (9.5, 5.2). A vehicle with ID 69 is 11.7 meters away at (-11.7, 0.6). A pedestrian with ID 65 is 13.1 meters away at (13.0, -0.9). A pedestrian with ID 66 is 14.2 meters away at (14.2, -0.7). A unknown object with ID 79 is 15.2 meters away at (13.5, -7.0). A vehicle with ID 67 is 15.4 meters away at (-14.4, -5.5). A unknown object with ID 55 is 16.7 meters away at (15.3, -6.8). A unknown object with ID 32 is 17.1 meters away at (15.2, -7.9).

The vehicle with ID 61 is traveling at a (x, y) velocity of [4.5959916 2.8907197] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [4.957226  3.9852662] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [3.103596  1.6071277] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [5.4081793 3.455844 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.59555125  0.55838615] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.62036425  0.76294553] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [3.9733653 2.4627483] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.6) m/s. Its current heading (yaw) is 0.53

The most relevant actors are: A vehicle with ID 61 is 5.3 meters away at (0.9, 5.2). A pedestrian with ID 65 is 7.7 meters away at (6.8, -3.6). A vehicle with ID 69 is 8.0 meters away at (-6.3, 4.9). A pedestrian with ID 66 is 8.3 meters away at (7.7, -3.2). A vehicle with ID 67 is 10.5 meters away at (-10.1, -2.8). A vehicle with ID 59 is 11.0 meters away at (10.6, 3.0). A pedestrian with ID 76 is 12.6 meters away at (12.6, -0.6). A unknown object with ID 79 is 13.1 meters away at (8.1, -10.3). A unknown object with ID 81 is 14.1 meters away at (10.9, -9.1). A unknown object with ID 55 is 14.3 meters away at (9.9, -10.3).

The vehicle with ID 61 is traveling at a (x, y) velocity of [5.895045 4.539233] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.31784344  0.24988124] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [5.194708  4.1383214] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.40607494  0.28712672] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [5.4766555 3.6296794] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 3.779302   -0.54551524] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0180808 -1.0125251] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 0.4) m/s. Its current heading (yaw) is 0.12

The most relevant actors are: A vehicle with ID 67 is 5.5 meters away at (-4.6, 3.2). A pedestrian with ID 66 is 5.7 meters away at (1.2, -5.6). A pedestrian with ID 65 is 5.8 meters away at (0.5, -5.8). A pedestrian with ID 76 is 6.5 meters away at (4.3, -4.9). A vehicle with ID 77 is 11.3 meters away at (-10.5, 4.2). A vehicle with ID 69 is 12.2 meters away at (-1.9, 12.0). A unknown object with ID 81 is 12.5 meters away at (4.7, -11.6). A unknown object with ID 79 is 13.0 meters away at (2.0, -12.9). A vehicle with ID 59 is 13.3 meters away at (12.6, -4.3). A unknown object with ID 55 is 13.4 meters away at (3.7, -12.8).

The vehicle with ID 67 is traveling at a (x, y) velocity of [6.0534406 4.8650856] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00080182 0.0080317 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01678171  0.0090107 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.1805748  -0.87588114] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [5.599112  4.8812037] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [5.6158524 6.152274 ] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 4.591482  -4.5233603] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.5) m/s. Its current heading (yaw) is 0.86

The most relevant actors are: A vehicle with ID 53 is 7.5 meters away at (-1.8, -7.3). A vehicle with ID 56 is 10.7 meters away at (-10.4, -2.1). A vehicle with ID 61 is 12.5 meters away at (-5.4, -11.2). A vehicle with ID 67 is 16.8 meters away at (-15.1, -7.4). A vehicle with ID 60 is 18.8 meters away at (-9.6, -16.2). A vehicle with ID 62 is 24.6 meters away at (-20.5, -13.6). A vehicle with ID 54 is 24.7 meters away at (24.6, 2.6). A vehicle with ID 66 is 25.1 meters away at (-7.3, 24.0). A vehicle with ID 64 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 70 is 26.4 meters away at (2.6, 26.2).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.88

The most relevant actors are: A vehicle with ID 53 is 8.6 meters away at (-2.6, -8.2). A vehicle with ID 56 is 11.6 meters away at (-11.2, -3.1). A vehicle with ID 61 is 13.6 meters away at (-6.2, -12.2). A vehicle with ID 67 is 17.9 meters away at (-15.8, -8.4). A vehicle with ID 60 is 20.0 meters away at (-10.4, -17.1). A vehicle with ID 54 is 23.8 meters away at (23.8, 1.6). A vehicle with ID 66 is 24.4 meters away at (-8.1, 23.1). A vehicle with ID 70 is 25.4 meters away at (1.8, 25.3). A vehicle with ID 62 is 25.8 meters away at (-21.2, -14.6). A vehicle with ID 68 is 26.6 meters away at (-20.4, 17.0).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 53 is 14.1 meters away at (-6.3, -12.6). A vehicle with ID 56 is 16.6 meters away at (-14.9, -7.5). A vehicle with ID 61 is 19.3 meters away at (-9.9, -16.6). A vehicle with ID 54 is 20.3 meters away at (20.1, -2.8). A vehicle with ID 70 is 21.0 meters away at (-1.9, 20.9). A vehicle with ID 66 is 22.0 meters away at (-11.7, 18.7). A vehicle with ID 67 is 23.3 meters away at (-19.5, -12.8). A vehicle with ID 60 is 25.8 meters away at (-14.1, -21.6). A vehicle with ID 58 is 26.0 meters away at (25.6, -4.4). A vehicle with ID 68 is 27.3 meters away at (-24.1, 12.7).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 4.3) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 70 is 15.6 meters away at (-8.4, 13.2). A pedestrian with ID 26 is 17.0 meters away at (2.6, 16.8). A vehicle with ID 54 is 17.2 meters away at (13.8, -10.4). A vehicle with ID 66 is 21.2 meters away at (-18.2, 10.9). A vehicle with ID 58 is 22.6 meters away at (19.2, -12.0). A vehicle with ID 53 is 24.0 meters away at (-12.7, -20.3). A vehicle with ID 47 is 25.0 meters away at (10.5, 22.7). A vehicle with ID 56 is 26.2 meters away at (-21.3, -15.3). A vehicle with ID 63 is 28.7 meters away at (25.0, -14.0). A unknown object with ID 23 is 29.0 meters away at (20.5, 20.5).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01648179 0.00345682] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -1.2) m/s. Its current heading (yaw) is -1.37

The most relevant actors are: A vehicle with ID 19 is 29.1 meters away at (-28.9, 3.5). A vehicle with ID 13 is 30.1 meters away at (21.4, -21.1). A pedestrian with ID 17 is 31.6 meters away at (18.7, 25.5). A unknown object with ID 18 is 34.6 meters away at (-32.9, 10.9). A unknown object with ID 11 is 35.9 meters away at (-34.0, 11.6). A pedestrian with ID 20 is 44.3 meters away at (11.6, 42.7). A pedestrian with ID 21 is 50.7 meters away at (13.1, 49.0). A pedestrian with ID 22 is 54.6 meters away at (12.5, 53.1).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.6802115 -1.0876443] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.934615 -4.864165] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.5900115 -0.9672778] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.05714925  0.06824949] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.10438474 -0.13724445] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.02241972 0.12672724] m/s.

Instruction: Slight left 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 -1.38

The most relevant actors are: A vehicle with ID 19 is 18.3 meters away at (-17.5, 5.1). A pedestrian with ID 17 is 30.0 meters away at (17.5, 24.3). A unknown object with ID 18 is 34.9 meters away at (-32.9, 11.6). A unknown object with ID 11 is 36.1 meters away at (-34.0, 12.0). A pedestrian with ID 20 is 45.1 meters away at (11.0, 43.8). A pedestrian with ID 21 is 51.2 meters away at (13.1, 49.6). A vehicle with ID 13 is 54.4 meters away at (45.1, -30.4). A pedestrian with ID 22 is 55.4 meters away at (12.4, 53.9). A unknown object with ID 9 is 56.6 meters away at (2.5, 56.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [5.500155  2.1917548] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.66133165 -0.88576514] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.12934054  0.02837409] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02392631 0.00577205] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.915127  -4.8897996] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00048969 0.025714  ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.9) m/s. Its current heading (yaw) is -1.35

The most relevant actors are: A vehicle with ID 19 is 15.3 meters away at (-8.3, 12.8). A pedestrian with ID 17 is 28.3 meters away at (16.2, 23.2). A unknown object with ID 18 is 35.2 meters away at (-33.1, 12.1). A vehicle with ID 6 is 41.2 meters away at (26.7, -31.4). A pedestrian with ID 20 is 45.3 meters away at (11.0, 43.9). A pedestrian with ID 21 is 51.7 meters away at (13.2, 49.9). A pedestrian with ID 22 is 55.9 meters away at (12.5, 54.5). A vehicle with ID 13 is 79.2 meters away at (68.4, -40.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [3.988821  4.1891975] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.6038079  -0.69027936] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-16.197086   7.045087] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.06200944 0.01666334] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04682438 0.06483418] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.03870013 0.0766246 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.599217  -4.9342933] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.5) m/s. Its current heading (yaw) is -1.05

The most relevant actors are: A vehicle with ID 6 is 14.8 meters away at (-7.2, -12.9). A vehicle with ID 19 is 24.7 meters away at (-4.0, 24.4). A pedestrian with ID 17 is 29.7 meters away at (13.1, 26.6). A unknown object with ID 18 is 38.8 meters away at (-34.8, 17.2). A unknown object with ID 3 is 40.3 meters away at (-36.1, 17.9). A unknown object with ID 8 is 40.8 meters away at (-37.2, 16.8). A pedestrian with ID 20 is 50.0 meters away at (9.6, 49.0). A pedestrian with ID 21 is 56.9 meters away at (11.7, 55.7). A pedestrian with ID 22 is 60.6 meters away at (10.9, 59.6). A vehicle with ID 5 is 75.0 meters away at (-69.8, 27.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-15.627607   6.629375] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.3826313 2.520894 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.7270964 -0.8049155] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.04593275 -0.03330864] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.06425833 0.14312106] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.02634093 -0.00497011] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.4, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 92 is 10.6 meters away at (5.2, -9.2). A vehicle with ID 95 is 12.3 meters away at (8.0, -9.3). A vehicle with ID 99 is 14.0 meters away at (10.6, -9.1). A vehicle with ID 126 is 15.0 meters away at (14.4, 4.2). A vehicle with ID 107 is 16.0 meters away at (13.2, -9.1). A vehicle with ID 111 is 18.4 meters away at (16.0, -9.2). A vehicle with ID 82 is 18.6 meters away at (-17.8, 5.2). A vehicle with ID 83 is 19.1 meters away at (-16.6, -9.4). A vehicle with ID 113 is 21.4 meters away at (19.1, -9.6). A vehicle with ID 96 is 21.6 meters away at (-0.2, -21.6).

The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [-8.289439    0.17888492] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.9027605   0.96525055] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.7, 0.1) m/s. Its current heading (yaw) is 0.01

The most relevant actors are: A vehicle with ID 116 is 9.6 meters away at (0.3, -9.6). A vehicle with ID 113 is 10.0 meters away at (-2.2, -9.8). A vehicle with ID 111 is 10.8 meters away at (-5.2, -9.4). A vehicle with ID 107 is 12.2 meters away at (-8.0, -9.2). A vehicle with ID 99 is 14.1 meters away at (-10.6, -9.3). A vehicle with ID 95 is 16.2 meters away at (-13.2, -9.4). A vehicle with ID 92 is 18.5 meters away at (-16.0, -9.3). A vehicle with ID 126 is 21.3 meters away at (-20.9, 4.2). A vehicle with ID 122 is 22.4 meters away at (0.4, -22.4). A vehicle with ID 121 is 22.5 meters away at (-2.4, -22.3).

The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [-5.4407916   0.11940014] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, 0.0) m/s. Its current heading (yaw) is 0.00

The most relevant actors are: A vehicle with ID 116 is 22.6 meters away at (-20.3, -9.8). A vehicle with ID 52 is 23.6 meters away at (21.5, -9.7). A vehicle with ID 113 is 25.0 meters away at (-23.0, -9.8). A vehicle with ID 51 is 26.3 meters away at (24.4, -9.9). A vehicle with ID 62 is 27.3 meters away at (-14.9, -22.8). A vehicle with ID 111 is 27.7 meters away at (-26.0, -9.4). A vehicle with ID 72 is 28.2 meters away at (16.4, -23.0). A vehicle with ID 49 is 28.9 meters away at (27.1, -10.0). A vehicle with ID 125 is 29.0 meters away at (-17.8, -22.9). A vehicle with ID 107 is 30.3 meters away at (-28.8, -9.3).

The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -0.0) m/s. Its current heading (yaw) is -0.00

The most relevant actors are: A vehicle with ID 52 is 9.8 meters away at (1.5, -9.7). A vehicle with ID 51 is 10.8 meters away at (4.4, -9.8). A vehicle with ID 49 is 12.3 meters away at (7.2, -10.0). A vehicle with ID 63 is 14.0 meters away at (9.9, -9.9). A vehicle with ID 47 is 16.1 meters away at (12.6, -10.0). A vehicle with ID 72 is 23.2 meters away at (-3.6, -23.0). A vehicle with ID 76 is 23.8 meters away at (7.5, -22.6). A vehicle with ID 74 is 24.8 meters away at (10.3, -22.6). A vehicle with ID 55 is 25.9 meters away at (13.0, -22.4). A vehicle with ID 54 is 27.6 meters away at (15.8, -22.6).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.7) m/s. Its current heading (yaw) is -1.53

The most relevant actors are: A vehicle with ID 13 is 10.9 meters away at (2.6, -10.6). A vehicle with ID 14 is 28.8 meters away at (-4.8, 28.4). A vehicle with ID 15 is 44.4 meters away at (-5.6, 44.0). A pedestrian with ID 10 is 68.7 meters away at (7.4, -68.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [13.381659  -3.1761577] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.08091018  0.4752051 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -2.8) m/s. Its current heading (yaw) is -1.25

The most relevant actors are: A vehicle with ID 13 is 30.8 meters away at (27.5, -14.0). A vehicle with ID 14 is 32.6 meters away at (-5.3, 32.1). A vehicle with ID 15 is 48.7 meters away at (-5.9, 48.4). A pedestrian with ID 10 is 65.0 meters away at (6.5, -64.7). A vehicle with ID 8 is 79.4 meters away at (-78.6, 11.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [11.600964  -3.6549048] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.15594003 0.5825787 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.03952863  0.01096247] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -2.5) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A vehicle with ID 14 is 39.1 meters away at (-9.2, 37.9). A vehicle with ID 13 is 45.4 meters away at (42.9, -14.7). A vehicle with ID 15 is 56.3 meters away at (-9.7, 55.5). A pedestrian with ID 10 is 59.0 meters away at (1.9, -59.0). A unknown object with ID 7 is 63.5 meters away at (-61.2, 16.7).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 7.9418974 -2.4504735] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.10892061 0.6388934 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.88205326 -0.12504992] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -1.7) m/s. Its current heading (yaw) is -0.32

The most relevant actors are: A vehicle with ID 14 is 45.6 meters away at (-17.7, 42.0). A vehicle with ID 13 is 48.8 meters away at (47.7, -10.4). A unknown object with ID 3 is 49.1 meters away at (48.6, -6.4). A unknown object with ID 5 is 52.4 meters away at (52.3, -3.2). A vehicle with ID 15 is 63.0 meters away at (-18.0, 60.4). A unknown object with ID 7 is 72.6 meters away at (-69.6, 20.6). A vehicle with ID 2 is 75.0 meters away at (66.3, -35.0).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.419755  2.4708066] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.593533   3.8309255] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.65

The most relevant actors are: A vehicle with ID 78 is 4.4 meters away at (1.0, -4.2). A vehicle with ID 71 is 5.8 meters away at (-2.3, -5.3). A vehicle with ID 81 is 7.6 meters away at (-7.3, -2.3). A cyclist with ID 10 is 8.3 meters away at (7.3, -4.0). A vehicle with ID 62 is 9.4 meters away at (-7.9, 5.0). A vehicle with ID 67 is 9.9 meters away at (2.9, -9.5). A vehicle with ID 87 is 14.0 meters away at (11.9, -7.5). A vehicle with ID 88 is 14.8 meters away at (8.4, 12.2). A vehicle with ID 70 is 14.9 meters away at (7.7, -12.8). A unknown object with ID 94 is 17.3 meters away at (-16.7, 4.8).

The vehicle with ID 78 is traveling at a (x, y) velocity of [ 5.768782 -3.757918] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.01889748 -0.00213226] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 1.7079542 -1.105843 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 54.048687 -40.726593]]

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 -0.67

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.8, -5.0). A vehicle with ID 125 is 6.5 meters away at (-6.4, 0.8). A vehicle with ID 62 is 7.6 meters away at (-6.4, 4.1). A cyclist with ID 10 is 7.7 meters away at (6.7, -3.6). A vehicle with ID 81 is 8.0 meters away at (-7.8, -2.0). A vehicle with ID 67 is 9.4 meters away at (2.3, -9.1). A vehicle with ID 87 is 13.6 meters away at (11.5, -7.2). A vehicle with ID 70 is 14.3 meters away at (7.1, -12.4). A vehicle with ID 88 is 14.9 meters away at (7.9, 12.6). A vehicle with ID 78 is 16.2 meters away at (11.8, -11.1).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 5.9181933 -3.7861001] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.5913469  -0.40152338] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [0.00978041 0.013993  ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 5.296113  -3.3807948] m/s.

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 -0.67

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.9, -4.9). A vehicle with ID 62 is 7.2 meters away at (-6.1, 3.9). A cyclist with ID 10 is 7.6 meters away at (6.7, -3.6). A vehicle with ID 81 is 8.1 meters away at (-7.9, -1.9). A vehicle with ID 125 is 8.4 meters away at (5.0, -6.7). A vehicle with ID 67 is 9.3 meters away at (2.3, -9.0). A vehicle with ID 70 is 14.2 meters away at (7.0, -12.4). A vehicle with ID 88 is 14.9 meters away at (7.9, 12.6). A vehicle with ID 87 is 15.2 meters away at (12.8, -8.1). A unknown object with ID 94 is 18.0 meters away at (-17.2, 5.2).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.03357249  0.01747893] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 5.5702457 -3.6244915] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [ 1.080318   -0.70298177] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.2) m/s. Its current heading (yaw) is -0.67

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-3.4, -4.5). A vehicle with ID 62 is 7.5 meters away at (-6.3, 4.1). A cyclist with ID 10 is 7.7 meters away at (6.9, -3.6). A vehicle with ID 81 is 8.5 meters away at (-8.3, -1.5). A vehicle with ID 67 is 8.9 meters away at (1.8, -8.7). A vehicle with ID 38 is 9.4 meters away at (6.7, 6.6). A vehicle with ID 70 is 13.7 meters away at (6.6, -12.0). A vehicle with ID 88 is 14.9 meters away at (7.2, 13.0). A vehicle with ID 53 is 16.1 meters away at (16.1, -0.3). A vehicle with ID 82 is 17.8 meters away at (16.3, 7.4).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.26900578 -0.18549562] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 1.1317582 -0.7473066] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-8.480892  5.635241] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-7.879966   5.0986924] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -1.6) m/s. Its current heading (yaw) is -2.71

The most relevant actors are: A vehicle with ID 3 is 9.3 meters away at (9.1, 1.8). A vehicle with ID 20 is 19.8 meters away at (19.8, -0.4). A vehicle with ID 18 is 24.3 meters away at (22.7, 8.5). A vehicle with ID 19 is 24.3 meters away at (19.1, 14.9). A cyclist with ID 21 is 25.3 meters away at (15.8, 19.8). A vehicle with ID 24 is 29.4 meters away at (20.5, -21.1). A vehicle with ID 22 is 29.5 meters away at (19.0, 22.6). A vehicle with ID 25 is 31.5 meters away at (16.2, -26.9). A vehicle with ID 23 is 32.2 meters away at (-0.4, 32.2). A vehicle with ID 31 is 35.2 meters away at (12.3, -33.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.1355014  -0.26737693] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.3681726  1.3995296] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.03232298 0.01100449] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.7502284 2.4405363] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a vehicle at [9.106665  1.7917223], 9.28125 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.2) m/s. Its current heading (yaw) is -2.33

The most relevant actors are: A vehicle with ID 3 is 11.1 meters away at (9.6, 5.7). A vehicle with ID 20 is 23.0 meters away at (21.9, 7.2). A vehicle with ID 25 is 32.3 meters away at (24.1, -21.4). A vehicle with ID 24 is 32.4 meters away at (28.4, -15.5). A vehicle with ID 18 is 33.8 meters away at (30.8, 13.9). A vehicle with ID 19 is 33.9 meters away at (27.0, 20.6). A vehicle with ID 31 is 34.1 meters away at (20.3, -27.4). A cyclist with ID 21 is 34.7 meters away at (23.7, 25.4). A vehicle with ID 22 is 38.9 meters away at (26.8, 28.2). A unknown object with ID 30 is 40.5 meters away at (37.5, -15.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.31378  -1.741904] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.9209976  0.6104938] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.01970958  0.00968346] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.4) m/s. Its current heading (yaw) is -2.13

The most relevant actors are: A vehicle with ID 3 is 12.7 meters away at (7.6, 10.1). A vehicle with ID 20 is 26.9 meters away at (20.2, 17.7). A vehicle with ID 31 is 32.8 meters away at (28.3, -16.5). A vehicle with ID 25 is 33.7 meters away at (32.0, -10.5). A vehicle with ID 24 is 36.5 meters away at (36.3, -4.5). A vehicle with ID 39 is 43.8 meters away at (24.0, -36.6). A unknown object with ID 30 is 45.6 meters away at (45.4, -4.3). A vehicle with ID 18 is 45.9 meters away at (38.4, 25.1). A vehicle with ID 19 is 47.0 meters away at (34.8, 31.6). A cyclist with ID 21 is 48.0 meters away at (31.4, 36.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7019277 -4.73964  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.861364  -1.4400176] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.04578114  0.01150581] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.4) m/s. Its current heading (yaw) is -2.18

The most relevant actors are: A vehicle with ID 3 is 14.4 meters away at (7.8, 12.0). A vehicle with ID 31 is 37.6 meters away at (37.5, -2.6). A vehicle with ID 4 is 37.6 meters away at (37.5, -2.6). A vehicle with ID 39 is 40.3 meters away at (33.3, -22.7). A vehicle with ID 25 is 41.4 meters away at (41.2, 3.4). A vehicle with ID 24 is 46.4 meters away at (45.4, 9.3). A vehicle with ID 43 is 49.5 meters away at (38.2, -31.5). A vehicle with ID 14 is 61.1 meters away at (48.0, -37.8). A vehicle with ID 18 is 61.6 meters away at (47.6, 39.1). A vehicle with ID 10 is 61.8 meters away at (48.7, -38.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.977983  -7.1360655] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 6.0098147 32.63984  ]
 [ 4.6416426 29.049095 ]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.85

The most relevant actors are: A vehicle with ID 31 is 3.5 meters away at (-3.3, 1.4). A vehicle with ID 26 is 9.9 meters away at (-6.3, -7.6). A pedestrian with ID 27 is 11.4 meters away at (-9.5, 6.2). A unknown object with ID 7 is 16.0 meters away at (-11.1, 11.5). A vehicle with ID 3 is 21.5 meters away at (-3.0, 21.3). A vehicle with ID 25 is 23.1 meters away at (17.6, 15.0). A vehicle with ID 28 is 29.7 meters away at (-21.9, -20.0). A vehicle with ID 35 is 36.2 meters away at (23.2, 27.8). A unknown object with ID 5 is 36.4 meters away at (-36.2, 3.7). A pedestrian with ID 34 is 43.9 meters away at (-43.0, -9.0).

The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.702583 -7.314381] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.5071813  0.44047275] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6846266  2.4660764] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [6.988743  7.5744033] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.003087 -4.514962] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.7352514 -3.6232123] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.7334278 -0.7369451] m/s.

There are active red lights at the following coordinates: [[ 5.899345 11.255784]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.2) m/s. Its current heading (yaw) is 1.21

The most relevant actors are: A pedestrian with ID 27 is 11.8 meters away at (-11.5, 2.5). A vehicle with ID 26 is 13.0 meters away at (-7.7, -10.4). A vehicle with ID 35 is 19.9 meters away at (15.1, 13.0). A vehicle with ID 31 is 23.6 meters away at (-17.5, -15.9). A vehicle with ID 3 is 27.2 meters away at (-14.7, 22.9). A cyclist with ID 11 is 27.6 meters away at (21.5, 17.4). A vehicle with ID 17 is 29.0 meters away at (-18.5, -22.3). A vehicle with ID 24 is 38.7 meters away at (-24.8, -29.6). A unknown object with ID 33 is 40.0 meters away at (20.0, 34.6). A vehicle with ID 25 is 42.0 meters away at (31.8, 27.5).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.49698216 0.6370375 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [1.7604758 2.1646314] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.5226619 -7.1925554] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.5338125 -5.0365334] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.4696584  3.2410243] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [ 2.9133081 -6.2946577] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0.3990762  0.52463627] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [10.081208  9.423663] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 4.5) m/s. Its current heading (yaw) is 1.99

The most relevant actors are: A pedestrian with ID 27 is 12.2 meters away at (-10.6, -6.0). A vehicle with ID 26 is 14.6 meters away at (-2.9, -14.3). A vehicle with ID 12 is 18.5 meters away at (-5.5, -17.6). A vehicle with ID 35 is 24.6 meters away at (21.4, -12.1). A vehicle with ID 3 is 30.9 meters away at (-24.2, 19.3). A unknown object with ID 33 is 32.0 meters away at (20.0, 25.0). A vehicle with ID 17 is 33.6 meters away at (-16.4, -29.4). A unknown object with ID 36 is 36.2 meters away at (26.0, 25.2). A vehicle with ID 31 is 42.2 meters away at (-24.9, -34.1). A vehicle with ID 24 is 46.3 meters away at (-24.8, -39.1).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.3892662 0.5702424] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [3.147497  3.7147114] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.3119311 3.805662 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 6.533095  -7.1409407] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.0655036  2.6973624] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.2344754 2.5976896] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-3.1888657 -3.8215578] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.