The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87

The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.7, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.4, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 7 is 23.4 meters away at (16.7, -16.4). A vehicle with ID 19 is 23.6 meters away at (18.8, -14.2). A vehicle with ID 30 is 24.7 meters away at (-24.6, 2.2). A vehicle with ID 21 is 26.1 meters away at (4.4, 25.7). A vehicle with ID 52 is 26.6 meters away at (24.4, 10.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.9670277  5.8948445] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.0267024  3.3834124] m/s.

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 0.87

The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.6, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.7, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 7 is 23.4 meters away at (16.7, -16.3). A vehicle with ID 19 is 23.5 meters away at (18.8, -14.1). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A vehicle with ID 52 is 27.5 meters away at (20.1, 18.8). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.633617   4.3609166] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.8) m/s. Its current heading (yaw) is -1.24

The most relevant actors are: A vehicle with ID 48 is 14.3 meters away at (-3.2, -13.9). A vehicle with ID 49 is 20.6 meters away at (-4.7, -20.0). A vehicle with ID 1 is 26.5 meters away at (-25.9, -5.8). A vehicle with ID 33 is 28.5 meters away at (-26.5, 10.3). A vehicle with ID 46 is 31.5 meters away at (-27.0, -16.1). A vehicle with ID 9 is 33.0 meters away at (-29.9, -13.8). A vehicle with ID 47 is 34.7 meters away at (-19.3, -28.8). A vehicle with ID 50 is 37.1 meters away at (-29.1, -23.1). A vehicle with ID 52 is 37.7 meters away at (-32.1, -19.8). A vehicle with ID 41 is 39.6 meters away at (16.8, -35.8).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.2585756 0.4094412] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.533169 14.93058 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.06746796 0.38819414] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ -2.827236 -14.238552] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.1057673  1.4534549] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.1) m/s. Its current heading (yaw) is -1.01

The most relevant actors are: A vehicle with ID 48 is 12.2 meters away at (-4.5, -11.3). A vehicle with ID 49 is 18.5 meters away at (-6.1, -17.5). A vehicle with ID 60 is 22.4 meters away at (-5.9, 21.6). A vehicle with ID 1 is 26.3 meters away at (-26.2, -2.3). A vehicle with ID 46 is 30.6 meters away at (-27.9, -12.5). A vehicle with ID 41 is 32.3 meters away at (6.0, -31.7). A vehicle with ID 9 is 33.0 meters away at (-31.1, -10.9). A cyclist with ID 35 is 35.6 meters away at (-31.3, -16.9). A vehicle with ID 50 is 36.5 meters away at (-30.4, -20.2). A vehicle with ID 52 is 37.4 meters away at (-33.4, -16.9).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -5.3430343 -13.687264 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.6007117  0.76833993] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.2380642 0.7767441] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.3123026  0.4433727] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.16764063 0.60797304] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [1.024504  3.4092739] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.05094891 0.60190535] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0.04281409 1.0671791 ] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.5) m/s. Its current heading (yaw) is -0.71

The most relevant actors are: A vehicle with ID 48 is 10.9 meters away at (-9.6, -5.2). A vehicle with ID 49 is 15.9 meters away at (-11.2, -11.2). A vehicle with ID 60 is 20.2 meters away at (-20.2, 0.5). A pedestrian with ID 26 is 23.6 meters away at (-18.2, -15.1). A vehicle with ID 41 is 28.1 meters away at (-8.2, -26.8). A vehicle with ID 18 is 28.6 meters away at (3.8, -28.3). A vehicle with ID 1 is 28.9 meters away at (-28.2, 6.5). A vehicle with ID 46 is 31.9 meters away at (-31.7, -3.5). A cyclist with ID 34 is 32.0 meters away at (17.8, -26.6). A vehicle with ID 9 is 35.4 meters away at (-35.3, -2.2).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -3.9494631 -13.713554 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04668038  0.03705142] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.1668544 -2.1113389] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.253971   1.3126924] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.2073762 1.7677333] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [1.1979561 1.8857502] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-10.617206    5.2718115] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.1133897 2.2535806] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -3.7) m/s. Its current heading (yaw) is -0.53

The most relevant actors are: A cyclist with ID 34 is 12.8 meters away at (-8.7, -9.4). A vehicle with ID 48 is 20.1 meters away at (-20.0, 1.9). A vehicle with ID 49 is 22.0 meters away at (-21.7, -4.1). A vehicle with ID 18 is 27.4 meters away at (-17.6, -21.0). A vehicle with ID 1 is 31.5 meters away at (-27.7, 15.0). A vehicle with ID 46 is 38.5 meters away at (-37.7, 7.5). A vehicle with ID 41 is 39.3 meters away at (-29.0, -26.5). A vehicle with ID 60 is 42.5 meters away at (-37.2, -20.7). A vehicle with ID 9 is 42.7 meters away at (-41.4, 10.7). A vehicle with ID 50 is 44.7 meters away at (-44.7, -1.8).

The cyclist with ID 34 is traveling at a (x, y) velocity of [-7.1723795  4.209515 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.827616   -0.95571744] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.8739676 -1.3719728] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.9012067 1.5414598] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.2353063 -3.695155 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -2.2537727 -14.179308 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.5272489 2.6346948] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.8177935 2.3136296] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.5) m/s. Its current heading (yaw) is 2.87

The most relevant actors are: A pedestrian with ID 9 is 11.9 meters away at (5.4, -10.7). A vehicle with ID 1 is 17.1 meters away at (15.0, -8.2). A vehicle with ID 15 is 44.9 meters away at (42.0, -15.9). A unknown object with ID 8 is 74.4 meters away at (50.8, -54.3).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.3813628  -0.45239335] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.656478   3.0700881] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.7) m/s. Its current heading (yaw) is -2.54

The most relevant actors are: A vehicle with ID 1 is 14.4 meters away at (14.4, -1.2). A pedestrian with ID 9 is 19.7 meters away at (16.0, -11.5). A vehicle with ID 15 is 53.8 meters away at (51.7, -14.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.7490115  2.6355379] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.6576508  -0.96986264] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.9) m/s. Its current heading (yaw) is -2.05

The most relevant actors are: A vehicle with ID 1 is 14.0 meters away at (10.6, 9.2). A pedestrian with ID 9 is 23.5 meters away at (22.7, -6.1). A vehicle with ID 15 is 57.7 meters away at (57.2, -7.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.7577047  -0.23358686] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.35645524 -0.6844247 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.0) m/s. Its current heading (yaw) is -2.04

The most relevant actors are: A vehicle with ID 1 is 12.6 meters away at (5.9, 11.1). A pedestrian with ID 9 is 26.1 meters away at (26.1, -0.7). A vehicle with ID 15 is 60.3 meters away at (60.3, -1.3).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.6271038 -2.8868985] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.02656884 -0.02027511] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.4) m/s. Its current heading (yaw) is 2.44

The most relevant actors are: A vehicle with ID 27 is 3.2 meters away at (-2.7, -1.7). A vehicle with ID 26 is 8.5 meters away at (6.3, -5.7). A unknown object with ID 20 is 36.0 meters away at (-35.0, -8.1). A unknown object with ID 30 is 38.2 meters away at (-16.2, -34.6). A vehicle with ID 40 is 46.9 meters away at (41.4, -22.1). A unknown object with ID 1 is 47.6 meters away at (-45.8, -12.8). A pedestrian with ID 35 is 47.6 meters away at (-42.1, -22.2). A vehicle with ID 32 is 48.0 meters away at (-10.7, -46.8). A vehicle with ID 33 is 48.8 meters away at (48.8, 0.2). A vehicle with ID 34 is 51.9 meters away at (-51.8, 3.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [ 4.5356784 -3.976717 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.95006746  0.8880195 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.4429425 -1.4990721] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.2) m/s. Its current heading (yaw) is 2.49

The most relevant actors are: A vehicle with ID 26 is 10.3 meters away at (7.8, -6.7). A vehicle with ID 27 is 17.0 meters away at (10.6, -13.3). A unknown object with ID 20 is 33.5 meters away at (-31.8, -10.8). A unknown object with ID 1 is 45.3 meters away at (-42.7, -15.3). A pedestrian with ID 35 is 48.5 meters away at (-40.1, -27.3). A vehicle with ID 34 is 48.6 meters away at (-48.6, 0.5). A vehicle with ID 40 is 51.1 meters away at (44.6, -25.0). A vehicle with ID 32 is 51.3 meters away at (-8.6, -50.5). A vehicle with ID 37 is 51.5 meters away at (-51.5, -2.4). A vehicle with ID 33 is 52.0 meters away at (51.9, -2.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.4318144  1.2492802] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 5.988212  -5.3398833] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.56008244 -1.2964109 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.1673648 -1.4876188] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.6) m/s. Its current heading (yaw) is -3.02

The most relevant actors are: A vehicle with ID 26 is 12.8 meters away at (11.5, -5.7). A unknown object with ID 20 is 27.3 meters away at (-23.8, -13.4). A unknown object with ID 1 is 39.0 meters away at (-34.8, -17.7). A vehicle with ID 34 is 40.6 meters away at (-40.6, -2.1). A unknown object with ID 16 is 42.1 meters away at (-42.0, 2.7). A vehicle with ID 27 is 42.3 meters away at (31.9, -27.8). A vehicle with ID 37 is 43.9 meters away at (-43.7, -4.9). A pedestrian with ID 35 is 46.5 meters away at (-33.5, -32.2). A vehicle with ID 3 is 50.3 meters away at (-31.4, -39.3). A vehicle with ID 40 is 59.4 meters away at (52.6, -27.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.274449   1.9964106] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 7.0970435 -6.249709 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.7765451 -1.210295 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -3.4) m/s. Its current heading (yaw) is -2.38

The most relevant actors are: A vehicle with ID 26 is 14.7 meters away at (14.1, 4.1). A unknown object with ID 1 is 29.3 meters away at (-26.0, -13.5). A vehicle with ID 34 is 32.1 meters away at (-32.0, 2.5). A vehicle with ID 37 is 35.1 meters away at (-35.1, -0.2). A vehicle with ID 3 is 38.0 meters away at (-20.0, -32.3). A vehicle with ID 2 is 38.3 meters away at (-20.5, -32.3). A vehicle with ID 23 is 38.9 meters away at (-38.0, 8.6). A pedestrian with ID 35 is 40.1 meters away at (-26.3, -30.2). A vehicle with ID 22 is 46.8 meters away at (-26.4, -38.7). A unknown object with ID 7 is 47.8 meters away at (6.4, -47.4).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.183232  3.471021] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.9190197 -1.13141  ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 1.05

The most relevant actors are: A vehicle with ID 66 is 3.2 meters away at (3.1, -0.6). A vehicle with ID 5 is 7.0 meters away at (-3.7, -5.9). A pedestrian with ID 72 is 9.7 meters away at (6.3, -7.3). A pedestrian with ID 71 is 11.4 meters away at (4.8, -10.4). A pedestrian with ID 57 is 11.8 meters away at (8.5, -8.2). A cyclist with ID 60 is 12.0 meters away at (8.4, 8.5). A pedestrian with ID 68 is 16.3 meters away at (0.6, 16.3). A cyclist with ID 50 is 16.4 meters away at (0.6, 16.4). A vehicle with ID 67 is 20.3 meters away at (-6.2, -19.3). A pedestrian with ID 79 is 21.0 meters away at (20.4, -5.0).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.76139075 1.1891689 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.91237277 1.2639533 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.5908226 1.197926 ] m/s.The cyclist with ID 60 is traveling at a (x, y) velocity of [ 3.9237552 -3.1100087] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 2.4646516 -2.6220517] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ 2.4664974 -2.717687 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.8883009  0.7073288] m/s.

There are active red lights at the following coordinates: [[2.860422  3.3651283]
 [2.390784  3.677232 ]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.9) m/s. Its current heading (yaw) is 1.07

The most relevant actors are: A vehicle with ID 66 is 3.0 meters away at (2.8, -1.3). A vehicle with ID 5 is 7.8 meters away at (-4.1, -6.6). A pedestrian with ID 72 is 9.7 meters away at (7.6, -6.0). A pedestrian with ID 71 is 10.6 meters away at (6.0, -8.7). A pedestrian with ID 57 is 11.4 meters away at (9.3, -6.6). A pedestrian with ID 68 is 11.7 meters away at (5.4, 10.4). A cyclist with ID 60 is 15.7 meters away at (15.7, 1.2). A pedestrian with ID 79 is 19.1 meters away at (18.6, -4.6). A pedestrian with ID 81 is 19.8 meters away at (19.4, -4.1). A unknown object with ID 51 is 20.0 meters away at (-20.0, 0.5).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.89948964 1.0288932 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.9151442 1.4898587] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.755574  1.1951662] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 2.4645882 -2.3704696] m/s.The cyclist with ID 60 is traveling at a (x, y) velocity of [ 4.0676613 -3.0772238] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.4864681  0.5745713] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.21647614  0.38888153] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A vehicle with ID 66 is 3.7 meters away at (1.8, -3.2). A cyclist with ID 37 is 9.0 meters away at (8.3, 3.6). A vehicle with ID 5 is 9.3 meters away at (-4.8, -7.9). A pedestrian with ID 72 is 10.8 meters away at (8.0, -7.3). A pedestrian with ID 71 is 11.1 meters away at (6.6, -9.0). A pedestrian with ID 57 is 11.6 meters away at (9.2, -7.1). A unknown object with ID 35 is 17.4 meters away at (-17.1, -3.0). A pedestrian with ID 79 is 17.9 meters away at (16.6, -6.6). A pedestrian with ID 81 is 19.2 meters away at (18.0, -6.8). A unknown object with ID 69 is 20.9 meters away at (20.4, -4.7).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0.5692469 0.7582062] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 2.1965191 -2.244885 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0.81870097 1.4093417 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.91137195 0.6807327 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [1.0764263 1.0291433] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.81098044 0.7405445 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.01221297 -0.01985306] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.00035615 -0.01585693] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ 2.3324776 14.877704 ]
 [ 5.8570223 14.890224 ]]

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 4.4) m/s. Its current heading (yaw) is 1.35

The most relevant actors are: A vehicle with ID 66 is 7.7 meters away at (1.5, -7.6). A vehicle with ID 5 is 10.3 meters away at (-4.5, -9.3). A cyclist with ID 37 is 13.5 meters away at (10.9, -8.0). A pedestrian with ID 72 is 14.9 meters away at (7.5, -12.9). A pedestrian with ID 71 is 15.2 meters away at (6.2, -13.9). A pedestrian with ID 57 is 15.2 meters away at (8.7, -12.5). A pedestrian with ID 79 is 19.3 meters away at (14.0, -13.3). A pedestrian with ID 81 is 20.5 meters away at (15.3, -13.6). A vehicle with ID 54 is 20.8 meters away at (-8.8, 18.8). A unknown object with ID 69 is 21.1 meters away at (17.7, -11.5).

The vehicle with ID 66 is traveling at a (x, y) velocity of [1.8139361 1.3561413] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [1.9199123 3.5598762] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 2.7046895 -2.4229805] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [1.0564654  0.39112985] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [1.0805618  0.77797216] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.94615084 0.5367414 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.0168892   0.01266734] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.0341349  -0.00817272] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.4) m/s. Its current heading (yaw) is -1.98

The most relevant actors are: A unknown object with ID 46 is 10.4 meters away at (9.5, -4.3). A vehicle with ID 69 is 11.8 meters away at (-11.6, -2.0). A unknown object with ID 50 is 15.7 meters away at (-15.7, 0.2). A cyclist with ID 70 is 18.0 meters away at (-14.5, -10.7). A vehicle with ID 10 is 18.5 meters away at (3.9, 18.1). A pedestrian with ID 11 is 21.5 meters away at (-11.7, 18.0). A vehicle with ID 44 is 26.8 meters away at (-13.5, -23.2). A vehicle with ID 47 is 33.0 meters away at (-15.7, -29.0). A pedestrian with ID 64 is 39.1 meters away at (-3.3, 38.9). A vehicle with ID 71 is 41.2 meters away at (-32.0, -26.0).

The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [3.8469586 9.5558605] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [3.9321885 9.149298 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.3361895 -7.4839406] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5073447 -1.3075421] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.10562618 0.9537723 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.197832  1.2261697] m/s.

Instruction: Continue straight.

(The closest actor is a unknown object at [ 9.499926  -4.2619696], 10.412155151367188 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.4) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A vehicle with ID 44 is 14.2 meters away at (-8.4, -11.5). A unknown object with ID 50 is 15.9 meters away at (-10.5, 11.9). A unknown object with ID 46 is 16.3 meters away at (14.6, 7.3). A vehicle with ID 10 is 16.9 meters away at (3.3, 16.6). A vehicle with ID 71 is 19.8 meters away at (-17.6, -9.1). A vehicle with ID 47 is 20.3 meters away at (-10.6, -17.3). A cyclist with ID 70 is 21.6 meters away at (-0.4, 21.6). A unknown object with ID 37 is 24.1 meters away at (-14.5, -19.3). A pedestrian with ID 11 is 28.1 meters away at (-7.6, 27.0). A vehicle with ID 69 is 30.2 meters away at (1.8, 30.1).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.4144409 -5.7199087] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.6441493 4.373481 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [ 4.545141  10.9028225] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.6119623 -1.4078006] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 4.309549 10.377186] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -3.9) m/s. Its current heading (yaw) is -1.97

The most relevant actors are: A vehicle with ID 44 is 5.0 meters away at (-4.4, -2.2). A vehicle with ID 47 is 10.5 meters away at (-6.8, -8.0). A vehicle with ID 71 is 13.9 meters away at (-5.3, 12.9). A vehicle with ID 10 is 17.0 meters away at (3.3, 16.7). A unknown object with ID 50 is 22.2 meters away at (-6.5, 21.2). A pedestrian with ID 68 is 24.2 meters away at (-22.2, -9.6). A unknown object with ID 46 is 24.9 meters away at (18.6, 16.5). A pedestrian with ID 63 is 26.2 meters away at (-26.2, -0.5). A pedestrian with ID 11 is 34.0 meters away at (-4.8, 33.7). A cyclist with ID 33 is 48.7 meters away at (-27.6, -40.1).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [3.663403 8.07265 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.5768628 -3.7190797] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.04496113 -0.08039609] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.70123196 -0.555779  ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.7167266 -1.2794803] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.08582729  0.00162392] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.9) m/s. Its current heading (yaw) is -1.99

The most relevant actors are: A vehicle with ID 44 is 4.0 meters away at (-2.0, 3.4). A vehicle with ID 47 is 4.8 meters away at (-4.3, -2.2). A vehicle with ID 10 is 16.8 meters away at (3.2, 16.5). A pedestrian with ID 68 is 19.9 meters away at (-19.5, -4.3). A pedestrian with ID 63 is 23.0 meters away at (-22.7, 3.7). A pedestrian with ID 30 is 24.8 meters away at (-9.4, 23.0). A unknown object with ID 50 is 27.3 meters away at (-4.0, 27.0). A unknown object with ID 46 is 30.7 meters away at (21.1, 22.3). A pedestrian with ID 11 is 37.1 meters away at (-3.5, 36.9). A vehicle with ID 71 is 37.1 meters away at (4.7, 36.8).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.0431397 -2.3939142] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.1329373 -0.7000079] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.5590049  -0.53702384] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.5188641 -1.3389512] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.51266026 -1.1843551 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [3.9421432 9.571461 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 0.1) m/s. Its current heading (yaw) is 0.09

The most relevant actors are: A pedestrian with ID 55 is 13.2 meters away at (-7.7, -10.7). A vehicle with ID 58 is 15.2 meters away at (7.2, -13.4). A vehicle with ID 54 is 16.9 meters away at (-16.7, -2.7). A unknown object with ID 56 is 17.8 meters away at (-14.8, -9.8). A unknown object with ID 57 is 17.8 meters away at (-13.6, -11.5). A vehicle with ID 49 is 18.8 meters away at (-18.7, 1.2). A unknown object with ID 60 is 21.1 meters away at (-14.6, -15.3). A vehicle with ID 61 is 22.5 meters away at (-18.3, -13.1). A unknown object with ID 62 is 22.5 meters away at (-14.8, -17.0). A vehicle with ID 51 is 22.8 meters away at (13.6, 18.3).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.3016221 1.107124 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-3.5157692 -8.451372 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 0.7286057  -0.06141803] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [4.145561 9.500372] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 1.5) m/s. Its current heading (yaw) is 0.55

The most relevant actors are: A pedestrian with ID 55 is 15.2 meters away at (-11.4, -10.0). A vehicle with ID 49 is 20.5 meters away at (-20.5, -0.4). A vehicle with ID 54 is 22.3 meters away at (-22.0, -4.0). A unknown object with ID 60 is 25.3 meters away at (-19.0, -16.7). A unknown object with ID 62 is 26.6 meters away at (-19.2, -18.4). A pedestrian with ID 38 is 27.7 meters away at (-22.5, -16.2). A unknown object with ID 64 is 28.2 meters away at (-20.0, -20.0). A pedestrian with ID 63 is 28.4 meters away at (-23.8, -15.5). A pedestrian with ID 65 is 29.3 meters away at (-25.7, -14.1). A unknown object with ID 12 is 30.5 meters away at (10.1, 28.8).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.34292766 1.0174711 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 1.7830513  -0.16101341] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-1.2746394   0.12307151] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00391038 -0.0002004 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01489514 -0.01421892] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.0003846  -0.01583644] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: left u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.5) m/s. Its current heading (yaw) is 1.08

The most relevant actors are: A pedestrian with ID 55 is 20.9 meters away at (-16.1, -13.3). A vehicle with ID 49 is 21.8 meters away at (-21.0, -6.1). A unknown object with ID 47 is 23.5 meters away at (5.9, 22.8). A unknown object with ID 12 is 24.0 meters away at (5.2, 23.5). A unknown object with ID 11 is 24.9 meters away at (7.2, 23.8). A unknown object with ID 31 is 25.2 meters away at (4.1, 24.9). A unknown object with ID 10 is 27.8 meters away at (8.4, 26.5). A unknown object with ID 23 is 29.0 meters away at (-23.3, -17.3). A unknown object with ID 9 is 30.1 meters away at (9.2, 28.7). A unknown object with ID 60 is 32.3 meters away at (-23.5, -22.1).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.45013434  0.9556078 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.3340428  -0.24017061] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.2) m/s. Its current heading (yaw) is 1.15

The most relevant actors are: A unknown object with ID 47 is 14.6 meters away at (2.0, 14.5). A unknown object with ID 12 is 15.1 meters away at (1.8, 15.0). A unknown object with ID 11 is 16.0 meters away at (3.4, 15.7). A unknown object with ID 31 is 16.4 meters away at (0.2, 16.4). A unknown object with ID 24 is 17.0 meters away at (3.3, 16.6). A unknown object with ID 10 is 18.7 meters away at (4.4, 18.2). A unknown object with ID 9 is 21.6 meters away at (5.4, 20.9). A unknown object with ID 25 is 23.3 meters away at (6.1, 22.5). A unknown object with ID 22 is 23.4 meters away at (3.6, 23.1). A vehicle with ID 49 is 24.4 meters away at (-19.3, -14.9).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 2.6883178  -0.26998067] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [ 1.9927912 14.461763 ], 14.598418235778809 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.6, -4.1) m/s. Its current heading (yaw) is -0.41

The most relevant actors are: A vehicle with ID 40 is 17.2 meters away at (5.7, 16.2). A unknown object with ID 19 is 34.6 meters away at (33.9, -6.8). A unknown object with ID 16 is 35.9 meters away at (35.2, -7.3). A unknown object with ID 41 is 44.2 meters away at (-35.4, 26.3). A unknown object with ID 44 is 48.0 meters away at (-39.1, 27.9).

The vehicle with ID 40 is traveling at a (x, y) velocity of [ 2.6606915  -0.59056205] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[105.96682  -49.61177 ]
 [107.76043  -46.646225]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.0) m/s. Its current heading (yaw) is -0.45

The most relevant actors are: A unknown object with ID 19 is 16.6 meters away at (16.6, 1.0). A unknown object with ID 16 is 17.8 meters away at (17.8, 0.4). A unknown object with ID 18 is 18.4 meters away at (18.2, 2.7). A unknown object with ID 15 is 18.8 meters away at (18.7, 1.1). A unknown object with ID 17 is 19.0 meters away at (18.9, 2.1). A vehicle with ID 40 is 23.9 meters away at (-8.0, 22.6). A unknown object with ID 41 is 62.7 meters away at (-52.7, 34.0). A vehicle with ID 27 is 66.6 meters away at (54.2, -38.8). A vehicle with ID 1 is 67.3 meters away at (60.7, -29.0). A pedestrian with ID 37 is 70.0 meters away at (-57.3, 40.2).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 0.906381  -0.4855676] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.10193   4.998763] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.7804169 -0.3494924] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.0829314 -0.8070488] m/s.

There are active red lights at the following coordinates: [[105.96682  -49.61177 ]
 [107.76043  -46.646225]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [16.565567   0.9880438], 16.595006942749023 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -4.1) m/s. Its current heading (yaw) is -0.49

The most relevant actors are: A unknown object with ID 16 is 8.7 meters away at (2.7, 8.3). A unknown object with ID 19 is 9.0 meters away at (1.5, 8.9). A unknown object with ID 15 is 9.5 meters away at (3.5, 8.8). A unknown object with ID 17 is 10.6 meters away at (3.8, 9.9). A unknown object with ID 18 is 11.0 meters away at (3.1, 10.6). A vehicle with ID 27 is 36.4 meters away at (28.4, -22.9). A vehicle with ID 40 is 37.7 meters away at (-22.6, 30.2). A vehicle with ID 1 is 50.5 meters away at (45.7, -21.3). A pedestrian with ID 6 is 57.4 meters away at (55.4, -15.2). A pedestrian with ID 31 is 67.9 meters away at (-62.5, 26.6).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-6.814421   3.2213404] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.14970289 1.0691252 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.02860257 1.0342956 ] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [2.719822 8.269623], 8.705405235290527 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -3.2) m/s. Its current heading (yaw) is -0.47

The most relevant actors are: A vehicle with ID 27 is 8.8 meters away at (-1.1, -8.8). A unknown object with ID 10 is 11.3 meters away at (-2.8, -11.0). A unknown object with ID 12 is 11.5 meters away at (-6.6, -9.5). A unknown object with ID 9 is 12.3 meters away at (0.5, -12.2). A unknown object with ID 7 is 13.9 meters away at (3.3, -13.5). A unknown object with ID 5 is 15.1 meters away at (5.0, -14.3). A unknown object with ID 4 is 17.0 meters away at (7.4, -15.3). A unknown object with ID 16 is 18.5 meters away at (-10.4, 15.3). A unknown object with ID 15 is 18.5 meters away at (-9.6, 15.9). A unknown object with ID 3 is 19.2 meters away at (10.0, -16.4).

The vehicle with ID 27 is traveling at a (x, y) velocity of [-8.721905   3.7271821] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A pedestrian with ID 25 is 7.3 meters away at (-6.9, -2.2). A vehicle with ID 24 is 34.5 meters away at (27.0, -21.5). A pedestrian with ID 26 is 46.2 meters away at (43.9, -14.1). A pedestrian with ID 10 is 60.1 meters away at (-44.8, 40.0). A vehicle with ID 23 is 66.1 meters away at (53.7, -38.5).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0454292  0.7842345] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0401869  -0.75699526] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0945936   0.56291914] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A pedestrian with ID 25 is 11.9 meters away at (5.7, -10.4). A pedestrian with ID 10 is 44.7 meters away at (-31.7, 31.5). A vehicle with ID 24 is 52.2 meters away at (41.8, -31.3). A pedestrian with ID 26 is 66.1 meters away at (61.0, -25.4).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0655441  0.788609 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0448049   0.67683685] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0886227  -0.61008745] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 4.9) m/s. Its current heading (yaw) is 2.56

The most relevant actors are: A pedestrian with ID 25 is 26.4 meters away at (18.6, -18.7). A pedestrian with ID 10 is 29.5 meters away at (-18.6, 22.9). A vehicle with ID 14 is 30.7 meters away at (-30.6, -0.5). A vehicle with ID 6 is 43.7 meters away at (-43.7, 0.9). A vehicle with ID 24 is 69.9 meters away at (56.6, -41.0).

The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.0176488  0.6468782] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.9591375  0.6094326] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55

The most relevant actors are: A unknown object with ID 12 is 14.6 meters away at (-12.1, -8.1). A pedestrian with ID 10 is 15.1 meters away at (-5.8, 14.0). A vehicle with ID 15 is 19.1 meters away at (-0.3, -19.1). A vehicle with ID 6 is 30.2 meters away at (-28.8, -9.1). A vehicle with ID 11 is 32.6 meters away at (-32.4, -3.8). A pedestrian with ID 25 is 41.8 meters away at (31.6, -27.4). A vehicle with ID 1 is 68.5 meters away at (-59.0, 34.9). A vehicle with ID 2 is 69.3 meters away at (-54.1, 43.3).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.068133   0.5345749] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.9418202  0.6074252] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.

(The closest actor is a unknown object at [-12.086552  -8.116293], 14.558810234069824 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -5.9) m/s. Its current heading (yaw) is -1.55

The most relevant actors are: A vehicle with ID 43 is 11.7 meters away at (-0.8, 11.7). A unknown object with ID 46 is 15.1 meters away at (-14.8, -2.8). A vehicle with ID 44 is 18.2 meters away at (18.0, -2.6). A vehicle with ID 48 is 19.8 meters away at (15.2, -12.6). A cyclist with ID 23 is 24.7 meters away at (24.5, 3.2). A vehicle with ID 47 is 36.7 meters away at (36.3, -5.4). A unknown object with ID 27 is 48.2 meters away at (43.7, -20.4). A unknown object with ID 25 is 48.8 meters away at (44.4, -20.3). A unknown object with ID 49 is 52.4 meters away at (-22.2, -47.5). A unknown object with ID 41 is 56.1 meters away at (-16.7, -53.6).

The vehicle with ID 43 is traveling at a (x, y) velocity of [ 1.1803014 -4.7892127] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.8538446  -0.66498053] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 5.5946836 -0.2037888] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 8.042141  -0.2282004] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[  2.2852685 -21.654928 ]
 [  2.3446457 -21.44697  ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -6.9) m/s. Its current heading (yaw) is -1.60

The most relevant actors are: A vehicle with ID 48 is 15.3 meters away at (15.3, 0.2). A vehicle with ID 43 is 15.8 meters away at (4.0, 15.3). A unknown object with ID 46 is 17.9 meters away at (-14.9, 10.0). A cyclist with ID 30 is 29.7 meters away at (-12.7, -26.8). A vehicle with ID 44 is 35.2 meters away at (33.8, 9.8). A cyclist with ID 23 is 39.0 meters away at (35.5, 16.2). A unknown object with ID 49 is 41.1 meters away at (-22.2, -34.7). A unknown object with ID 26 is 43.9 meters away at (43.5, -5.9). A unknown object with ID 41 is 44.1 meters away at (-16.7, -40.8). A unknown object with ID 27 is 44.4 meters away at (43.7, -7.4).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 3.8511078 -4.446383 ] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 30 is traveling at a (x, y) velocity of [0.18076448 6.7851553 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.740969   -0.05357081] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [ 5.136186  -0.1470904] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[  2.2852685 -21.654928 ]
 [  2.3446457 -21.44697  ]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -7.8) m/s. Its current heading (yaw) is -1.65

The most relevant actors are: A vehicle with ID 48 is 21.9 meters away at (16.0, 14.9). A vehicle with ID 43 is 28.4 meters away at (15.7, 23.7). A unknown object with ID 46 is 28.6 meters away at (-14.2, 24.8). A unknown object with ID 49 is 29.2 meters away at (-21.4, -19.9). A unknown object with ID 41 is 30.5 meters away at (-15.9, -26.0). A unknown object with ID 42 is 35.1 meters away at (-17.1, -30.7). A unknown object with ID 16 is 39.3 meters away at (-18.2, -34.8). A unknown object with ID 26 is 45.1 meters away at (44.2, 8.8). A unknown object with ID 8 is 45.4 meters away at (-19.9, -40.8). A vehicle with ID 9 is 47.6 meters away at (-22.4, -42.0).

The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 7.189329  -1.8829986] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -7.5) m/s. Its current heading (yaw) is -1.72

The most relevant actors are: A unknown object with ID 41 is 17.9 meters away at (-14.2, -10.9). A unknown object with ID 49 is 20.3 meters away at (-19.7, -4.7). A unknown object with ID 42 is 21.8 meters away at (-15.3, -15.6). A unknown object with ID 16 is 25.7 meters away at (-16.4, -19.7). A unknown object with ID 8 is 31.4 meters away at (-18.1, -25.7). A vehicle with ID 9 is 33.9 meters away at (-20.6, -26.8). A vehicle with ID 48 is 34.9 meters away at (17.6, 30.1). A unknown object with ID 6 is 35.0 meters away at (-19.3, -29.1). A unknown object with ID 2 is 38.7 meters away at (-20.6, -32.7). A unknown object with ID 1 is 41.2 meters away at (-22.2, -34.7).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [-14.178213 -10.88863 ], 17.876911163330078 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -0.9) m/s. Its current heading (yaw) is -0.33

The most relevant actors are: A unknown object with ID 33 is 5.8 meters away at (1.6, 5.5). A unknown object with ID 35 is 6.5 meters away at (3.4, 5.5). A unknown object with ID 32 is 6.5 meters away at (-0.2, 6.5). A unknown object with ID 36 is 7.3 meters away at (3.3, 6.5). A unknown object with ID 37 is 14.4 meters away at (-12.7, -6.7). A unknown object with ID 12 is 16.2 meters away at (-15.4, -5.1). A pedestrian with ID 38 is 16.5 meters away at (-16.5, -0.0). A pedestrian with ID 39 is 17.0 meters away at (-17.0, -0.4). A pedestrian with ID 40 is 18.4 meters away at (-15.0, -10.6). A unknown object with ID 41 is 21.2 meters away at (-9.6, 18.9).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.01290946  0.01314844] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00299024 -0.0029271 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.02547583 0.01256898] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [1.6011145 5.546231 ], 5.772715091705322 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 1.4) m/s. Its current heading (yaw) is 0.31

The most relevant actors are: A unknown object with ID 35 is 6.7 meters away at (-3.7, 5.6). A unknown object with ID 36 is 7.6 meters away at (-3.8, 6.6). A unknown object with ID 33 is 7.8 meters away at (-5.4, 5.6). A unknown object with ID 32 is 9.8 meters away at (-7.3, 6.5). A unknown object with ID 37 is 20.9 meters away at (-19.8, -6.6). A unknown object with ID 12 is 23.1 meters away at (-22.5, -5.1). A pedestrian with ID 38 is 23.7 meters away at (-23.7, 0.0). A unknown object with ID 14 is 23.8 meters away at (-22.7, -7.1). A pedestrian with ID 39 is 24.2 meters away at (-24.2, -0.4). A pedestrian with ID 40 is 24.5 meters away at (-22.1, -10.6).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.00112011 -0.00943518] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.00919406 -0.00862713] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [0.01101681 0.0040014 ] m/s.

Instruction: left u-turn approaching.

(The closest actor is a unknown object at [-3.6700888  5.590071 ], 6.687185287475586 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 4.3) m/s. Its current heading (yaw) is 0.79

The most relevant actors are: A unknown object with ID 35 is 12.3 meters away at (-12.3, -0.2). A unknown object with ID 36 is 12.5 meters away at (-12.4, 0.8). A vehicle with ID 30 is 13.8 meters away at (-13.7, 0.9). A unknown object with ID 33 is 14.1 meters away at (-14.1, -0.2). A unknown object with ID 27 is 14.1 meters away at (-14.1, 0.8). A unknown object with ID 26 is 14.6 meters away at (-14.6, 0.6). A unknown object with ID 24 is 15.8 meters away at (-15.7, 1.8). A unknown object with ID 32 is 15.9 meters away at (-15.8, 0.9). A unknown object with ID 4 is 29.2 meters away at (17.3, 23.5). A unknown object with ID 37 is 31.1 meters away at (-28.4, -12.5).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.9) m/s. Its current heading (yaw) is 0.83

The most relevant actors are: A unknown object with ID 5 is 10.0 meters away at (1.5, 9.9). A unknown object with ID 4 is 16.5 meters away at (8.5, 14.1). A unknown object with ID 20 is 18.6 meters away at (10.5, 15.3). A unknown object with ID 3 is 18.7 meters away at (10.9, 15.2). A unknown object with ID 1 is 20.4 meters away at (11.7, 16.7). A unknown object with ID 21 is 20.5 meters away at (11.7, 16.8). A unknown object with ID 2 is 20.5 meters away at (10.8, 17.4). A unknown object with ID 36 is 22.9 meters away at (-21.3, -8.6). A unknown object with ID 35 is 23.2 meters away at (-21.1, -9.6). A unknown object with ID 33 is 24.9 meters away at (-22.9, -9.6).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.

(The closest actor is a unknown object at [1.4992237 9.924284 ], 10.036886215209961 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -2.0) m/s. Its current heading (yaw) is -2.22

The most relevant actors are: A unknown object with ID 19 is 5.1 meters away at (-4.3, 2.8). A pedestrian with ID 17 is 19.5 meters away at (10.3, 16.5). A vehicle with ID 1 is 29.1 meters away at (-13.4, -25.9). A vehicle with ID 30 is 35.4 meters away at (-14.3, -32.4). A unknown object with ID 6 is 35.9 meters away at (-5.0, -35.5). A unknown object with ID 29 is 38.2 meters away at (22.4, 31.0). A unknown object with ID 31 is 39.0 meters away at (-3.8, -38.9). A vehicle with ID 36 is 40.6 meters away at (17.8, -36.5). A vehicle with ID 28 is 40.9 meters away at (27.8, 29.9). A vehicle with ID 33 is 43.1 meters away at (-22.1, -37.0).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00474175 -0.0067557 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [1.6656551 1.875504 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [2.0591767 1.5212675] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.342525  5.464604] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [1.1819891 3.679977 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0.7509024  0.33385265] m/s.

There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]

Instruction: Sharp left turn approaching

(The closest actor is a unknown object at [-4.2722244  2.84794  ], 5.134458541870117 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -1.2) m/s. Its current heading (yaw) is -2.58

The most relevant actors are: A vehicle with ID 1 is 19.1 meters away at (-7.0, -17.7). A pedestrian with ID 17 is 24.0 meters away at (13.5, 19.8). A pedestrian with ID 20 is 25.7 meters away at (14.2, 21.3). A vehicle with ID 36 is 26.5 meters away at (10.7, -24.3). A vehicle with ID 30 is 26.6 meters away at (-2.3, -26.5). A vehicle with ID 38 is 31.5 meters away at (14.9, -27.7). A unknown object with ID 6 is 32.4 meters away at (-1.5, -32.4). A vehicle with ID 33 is 34.7 meters away at (-14.4, -31.6). A unknown object with ID 31 is 35.7 meters away at (-0.3, -35.7). A unknown object with ID 29 is 42.8 meters away at (25.6, 34.3).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.9875707 2.2211552] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.00872654 -0.00748017] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00422079 -0.00034879] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.5410526  2.9811904] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.2290483  -0.31134808] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.77952   3.153019] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [3.7666361 2.057718 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 1.4) m/s. Its current heading (yaw) is 2.75

The most relevant actors are: A vehicle with ID 1 is 12.1 meters away at (0.5, -12.1). A vehicle with ID 36 is 23.9 meters away at (12.9, -20.2). A vehicle with ID 33 is 26.8 meters away at (1.6, -26.8). A pedestrian with ID 26 is 27.0 meters away at (19.1, 19.2). A pedestrian with ID 17 is 28.6 meters away at (19.8, 20.6). A vehicle with ID 38 is 29.0 meters away at (17.0, -23.5). A pedestrian with ID 20 is 30.2 meters away at (20.5, 22.1). A vehicle with ID 10 is 30.3 meters away at (-27.3, 13.3). A vehicle with ID 34 is 35.1 meters away at (-11.1, -33.3). A unknown object with ID 31 is 35.5 meters away at (6.2, -35.0).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.11008142 3.035984  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.7606802  0.5526813] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [5.6991158 1.0180186] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00389498 0.00303464] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00318539 0.00464632] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.6765313   0.40052253] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00516267  0.00536324] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.422088  -5.0487604] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [5.1410184 2.2447371] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.5) m/s. Its current heading (yaw) is 2.45

The most relevant actors are: A vehicle with ID 10 is 9.0 meters away at (-8.9, -1.1). A vehicle with ID 1 is 13.7 meters away at (7.4, -11.5). A vehicle with ID 36 is 34.2 meters away at (21.2, -26.9). A vehicle with ID 34 is 35.2 meters away at (8.1, -34.3). A vehicle with ID 38 is 39.4 meters away at (25.3, -30.1). A vehicle with ID 13 is 41.3 meters away at (-40.3, 8.9). A vehicle with ID 33 is 42.2 meters away at (22.5, -35.7). A unknown object with ID 31 is 44.4 meters away at (14.8, -41.8). A vehicle with ID 37 is 50.9 meters away at (-30.2, -41.0). A vehicle with ID 39 is 54.4 meters away at (-37.6, -39.3).

The vehicle with ID 10 is traveling at a (x, y) velocity of [ 3.4330149 -3.0246835] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.9501393  4.6018867] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [5.5703015 2.262658 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.449179 -3.250586] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[ -8.186221 -22.607576]]

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 1.2) m/s. Its current heading (yaw) is 2.59

The most relevant actors are: A vehicle with ID 23 is 15.4 meters away at (-5.9, -14.2). A vehicle with ID 24 is 18.5 meters away at (8.5, -16.5). A pedestrian with ID 20 is 25.2 meters away at (8.3, 23.8). A vehicle with ID 26 is 34.0 meters away at (-8.6, -32.8). A vehicle with ID 19 is 35.0 meters away at (27.5, -21.8). A pedestrian with ID 29 is 37.6 meters away at (-35.3, 12.8). A vehicle with ID 30 is 45.1 meters away at (40.4, 20.0). A vehicle with ID 32 is 46.4 meters away at (42.7, 18.3). A pedestrian with ID 33 is 47.5 meters away at (47.5, -1.2). A vehicle with ID 34 is 59.3 meters away at (59.1, 4.4).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.071805  -0.7655325] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.8513613 -4.9936957] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01488895 -0.0804868 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8868484 -0.5115849] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 3.5) m/s. Its current heading (yaw) is 1.76

The most relevant actors are: A unknown object with ID 3 is 15.7 meters away at (3.6, -15.3). A vehicle with ID 23 is 18.9 meters away at (-2.0, -18.8). A pedestrian with ID 20 is 23.1 meters away at (14.3, 18.1). A vehicle with ID 24 is 24.4 meters away at (12.5, -20.9). A unknown object with ID 6 is 29.1 meters away at (26.3, 12.4). A pedestrian with ID 29 is 34.1 meters away at (-33.1, 8.2). A pedestrian with ID 21 is 34.2 meters away at (-33.0, 8.9). A vehicle with ID 30 is 46.7 meters away at (44.1, 15.4). A vehicle with ID 32 is 48.4 meters away at (46.5, 13.7). A pedestrian with ID 33 is 53.5 meters away at (53.1, -6.2).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.2245532 -0.4539563] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.0962793  0.4204307] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.1399205  0.4454802] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.89148265 -0.57054484] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a unknown object at [  3.5875182 -15.277504 ], 15.693069458007812 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 3.5) m/s. Its current heading (yaw) is 1.03

The most relevant actors are: A pedestrian with ID 20 is 17.5 meters away at (14.6, 9.7). A vehicle with ID 23 is 26.4 meters away at (-4.1, -26.0). A vehicle with ID 24 is 30.1 meters away at (10.3, -28.3). A pedestrian with ID 21 is 37.7 meters away at (-37.5, 3.1). A pedestrian with ID 22 is 37.7 meters away at (-37.6, 2.3). A vehicle with ID 30 is 43.1 meters away at (42.3, 8.0). A vehicle with ID 32 is 45.1 meters away at (44.6, 6.3). A pedestrian with ID 33 is 54.8 meters away at (52.6, -15.2). A vehicle with ID 34 is 61.4 meters away at (60.9, -7.7). A vehicle with ID 35 is 66.3 meters away at (65.4, -10.5).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.027855  -0.5486086] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.2905447  0.4808975] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.2921431  0.3823276] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.77578634 -0.4428148 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight left turn approaching.

(The closest actor is a pedestrian at [14.615762  9.691585], 17.53702735900879 meters away.)


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 1.9) m/s. Its current heading (yaw) is 1.01

The most relevant actors are: A pedestrian with ID 20 is 13.6 meters away at (13.3, 3.0). A unknown object with ID 11 is 31.5 meters away at (31.2, 4.3). A vehicle with ID 23 is 32.5 meters away at (-7.5, -31.6). A unknown object with ID 10 is 32.7 meters away at (32.6, 3.0). A vehicle with ID 24 is 34.5 meters away at (6.8, -33.9). A vehicle with ID 30 is 38.8 meters away at (38.8, 2.3). A vehicle with ID 32 is 41.1 meters away at (41.1, 0.7). A pedestrian with ID 21 is 43.6 meters away at (-43.6, -1.3). A pedestrian with ID 22 is 43.7 meters away at (-43.7, -1.9). A pedestrian with ID 33 is 55.3 meters away at (50.8, -21.8).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.0197574 -0.7480773] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.2436328   0.57837427] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.2484412  0.6366575] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8409974 -0.4928211] m/s.

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 1.9) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A vehicle with ID 22 is 15.1 meters away at (-13.2, 7.2). A vehicle with ID 21 is 15.6 meters away at (13.3, -8.1). A pedestrian with ID 58 is 20.3 meters away at (0.7, -20.3). A vehicle with ID 57 is 29.8 meters away at (-24.4, 17.2). A vehicle with ID 62 is 40.0 meters away at (-38.0, 12.4). A vehicle with ID 66 is 46.0 meters away at (-41.9, 18.9). A vehicle with ID 37 is 51.2 meters away at (-41.5, 30.0). A vehicle with ID 60 is 51.6 meters away at (47.7, -19.7). A vehicle with ID 61 is 51.7 meters away at (37.6, -35.5). A vehicle with ID 68 is 54.6 meters away at (-49.7, 22.5).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.0315995  2.801629 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.92945415  0.506697  ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.3107505  0.6967652] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-10.7272625   5.613994 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 5.3910317 -3.134111 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 4.4656515 -2.53363  ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 3.019304  -1.7463099] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.5) m/s. Its current heading (yaw) is 2.64

The most relevant actors are: A vehicle with ID 62 is 15.0 meters away at (-15.0, -0.7). A vehicle with ID 22 is 19.2 meters away at (-16.9, 9.1). A vehicle with ID 21 is 21.2 meters away at (18.2, -10.9). A vehicle with ID 66 is 21.7 meters away at (-20.6, 6.8). A pedestrian with ID 58 is 25.6 meters away at (7.9, -24.3). A vehicle with ID 71 is 34.2 meters away at (-32.9, 9.2). A vehicle with ID 68 is 35.4 meters away at (-32.9, 12.9). A vehicle with ID 37 is 40.0 meters away at (-31.7, 24.4). A vehicle with ID 56 is 44.6 meters away at (-43.4, 10.3). A vehicle with ID 57 is 46.2 meters away at (-39.1, 24.5).

The vehicle with ID 62 is traveling at a (x, y) velocity of [ 7.5621924 -4.3049097] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.918009   4.3600307] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.6732166  2.0481758] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 7.032138  -4.0426593] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1640345   0.78537613] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ 5.7801275 -3.3895578] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 3.736898  -2.1299784] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-12.996294    6.9519114] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.9) m/s. Its current heading (yaw) is 2.65

The most relevant actors are: A vehicle with ID 71 is 8.4 meters away at (-6.3, -5.7). A vehicle with ID 68 is 10.3 meters away at (-10.3, 0.3). A vehicle with ID 66 is 13.3 meters away at (8.9, -9.9). A vehicle with ID 22 is 23.3 meters away at (-20.5, 11.1). A vehicle with ID 62 is 23.5 meters away at (15.3, -17.8). A vehicle with ID 37 is 24.9 meters away at (-18.2, 16.9). A vehicle with ID 42 is 24.9 meters away at (-24.4, 4.7). A vehicle with ID 21 is 25.3 meters away at (21.8, -12.8). A vehicle with ID 56 is 30.0 meters away at (-29.9, 2.8). A vehicle with ID 36 is 31.2 meters away at (-23.8, 20.1).

The vehicle with ID 71 is traveling at a (x, y) velocity of [ 7.1632776 -3.948874 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 5.737824  -3.1999779] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 8.726273  -5.0093856] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-9.128241   5.1948223] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 9.023723 -5.175211] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 7.4194684 -4.3271728] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-6.2103233  3.54094  ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 4.6) m/s. Its current heading (yaw) is 2.63

The most relevant actors are: A vehicle with ID 73 is 6.9 meters away at (-6.9, -0.6). A vehicle with ID 37 is 8.9 meters away at (-2.7, 8.4). A vehicle with ID 42 is 13.8 meters away at (6.4, -12.2). A vehicle with ID 36 is 14.2 meters away at (-8.2, 11.6). A vehicle with ID 56 is 15.3 meters away at (-14.2, -5.8). A vehicle with ID 55 is 18.8 meters away at (-18.5, -3.2). A cyclist with ID 53 is 19.6 meters away at (-15.7, -11.8). A vehicle with ID 35 is 20.0 meters away at (-13.7, 14.6). A vehicle with ID 24 is 23.8 meters away at (-23.8, -0.2). A vehicle with ID 34 is 24.0 meters away at (-23.6, 4.5).

The vehicle with ID 73 is traveling at a (x, y) velocity of [ 4.0890617 -2.4107237] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 7.7944574 -4.0090356] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 53 is traveling at a (x, y) velocity of [ 3.3759224 -1.7233375] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 7.0691757 -4.2112336] m/s.

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 -2.24

The most relevant actors are: A vehicle with ID 3 is 6.9 meters away at (4.5, 5.2). A unknown object with ID 10 is 27.2 meters away at (23.8, 13.2). A unknown object with ID 11 is 29.4 meters away at (25.1, 15.2). A unknown object with ID 12 is 31.1 meters away at (26.1, 17.0). A unknown object with ID 13 is 33.0 meters away at (27.5, 18.2). A unknown object with ID 8 is 45.0 meters away at (19.1, 40.7). A unknown object with ID 9 is 45.3 meters away at (18.5, 41.3). A vehicle with ID 2 is 64.3 meters away at (-56.4, 30.8).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 7.2925296 -6.0431633] m/s.

There are active red lights at the following coordinates: [[ -9.537302 -10.74259 ]
 [ -9.704956 -10.928041]]

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.9) m/s. Its current heading (yaw) is -2.20

The most relevant actors are: A vehicle with ID 3 is 9.2 meters away at (5.9, 7.1). A unknown object with ID 10 is 29.7 meters away at (25.4, 15.3). A unknown object with ID 11 is 31.9 meters away at (26.7, 17.3). A unknown object with ID 12 is 33.6 meters away at (27.6, 19.1). A unknown object with ID 13 is 35.5 meters away at (29.1, 20.3). A vehicle with ID 2 is 47.4 meters away at (-42.1, 21.7). A unknown object with ID 8 is 47.5 meters away at (20.6, 42.9). A unknown object with ID 9 is 47.8 meters away at (20.0, 43.4). A unknown object with ID 6 is 48.6 meters away at (21.2, 43.7). A vehicle with ID 1 is 68.9 meters away at (-58.6, 36.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.18212004 -0.2509412 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 5.39523  -4.699067] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.3347263 -4.652375 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -2.6) m/s. Its current heading (yaw) is -2.25

The most relevant actors are: A vehicle with ID 3 is 11.6 meters away at (7.3, 9.0). A unknown object with ID 10 is 35.1 meters away at (28.9, 19.9). A vehicle with ID 2 is 35.4 meters away at (-30.1, 18.6). A unknown object with ID 11 is 37.4 meters away at (30.3, 21.9). A unknown object with ID 12 is 39.2 meters away at (31.2, 23.7). A unknown object with ID 13 is 41.0 meters away at (32.6, 25.0). A unknown object with ID 8 is 53.2 meters away at (24.1, 47.4). A unknown object with ID 9 is 53.5 meters away at (23.4, 48.1). A unknown object with ID 6 is 54.2 meters away at (24.8, 48.2). A vehicle with ID 1 is 55.4 meters away at (-45.3, 32.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.9626878 -2.3998306] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 3.2436562 -3.063277 ] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.4513307 -3.966022 ] m/s.

Instruction: Sharp left turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -2.1) m/s. Its current heading (yaw) is -2.55

The most relevant actors are: A vehicle with ID 3 is 11.2 meters away at (7.6, 8.2). A vehicle with ID 4 is 24.2 meters away at (15.5, 18.6). A vehicle with ID 2 is 27.1 meters away at (-19.8, 18.5). A unknown object with ID 10 is 42.0 meters away at (33.8, 24.9). A unknown object with ID 11 is 44.3 meters away at (35.1, 27.0). A vehicle with ID 1 is 44.6 meters away at (-32.9, 30.1). A unknown object with ID 12 is 46.1 meters away at (36.0, 28.8). A unknown object with ID 8 is 59.8 meters away at (28.8, 52.4). A unknown object with ID 6 is 60.8 meters away at (29.4, 53.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.6745863 -2.9943666] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.2106934 -2.639464 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 2.0895784 -2.0097654] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.5441961 -2.8107295] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[-16.60478    -9.614484 ]
 [-14.607145   -6.4773645]]

Instruction: Slight left turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.7) m/s. Its current heading (yaw) is -0.68

The most relevant actors are: A vehicle with ID 63 is 5.4 meters away at (-5.4, 0.8). A vehicle with ID 18 is 5.6 meters away at (3.4, 4.5). A vehicle with ID 65 is 7.8 meters away at (-0.3, 7.8). A vehicle with ID 66 is 9.8 meters away at (-9.0, 3.9). A vehicle with ID 15 is 11.6 meters away at (11.5, -1.7). A vehicle with ID 80 is 13.2 meters away at (-2.9, -12.9). A pedestrian with ID 71 is 16.7 meters away at (7.5, -14.9). A pedestrian with ID 73 is 17.4 meters away at (7.2, -15.8). A unknown object with ID 70 is 17.8 meters away at (-2.9, 17.6). A vehicle with ID 87 is 18.1 meters away at (-6.4, -17.0).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [2.915545 3.396634] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.03429266  0.02219128] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.08856437  0.05463777] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -0.7) m/s. Its current heading (yaw) is -0.25

The most relevant actors are: A vehicle with ID 18 is 6.4 meters away at (-0.2, 6.4). A vehicle with ID 63 is 9.4 meters away at (-9.0, 2.8). A vehicle with ID 65 is 10.6 meters away at (-3.9, 9.8). A vehicle with ID 80 is 12.8 meters away at (-6.6, -10.9). A pedestrian with ID 71 is 13.9 meters away at (4.1, -13.3). A vehicle with ID 66 is 14.0 meters away at (-12.7, 5.9). A pedestrian with ID 73 is 14.7 meters away at (4.0, -14.2). A vehicle with ID 89 is 15.2 meters away at (-11.9, 9.4). A vehicle with ID 15 is 16.1 meters away at (14.2, 7.5). A vehicle with ID 87 is 18.1 meters away at (-10.2, -14.9).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.670672   -0.58319795] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.7128085 -0.5233256] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 3.6820147 -3.1677074] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.7104018 4.305031 ] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 1.8) m/s. Its current heading (yaw) is 0.46

The most relevant actors are: A vehicle with ID 18 is 9.0 meters away at (-6.8, 5.8). A vehicle with ID 89 is 13.7 meters away at (-13.1, 4.1). A vehicle with ID 65 is 14.1 meters away at (-10.6, 9.2). A vehicle with ID 75 is 14.5 meters away at (11.0, -9.4). A pedestrian with ID 71 is 15.4 meters away at (-0.6, -15.4). A vehicle with ID 63 is 15.9 meters away at (-15.8, 2.2). A pedestrian with ID 73 is 16.2 meters away at (-0.5, -16.2). A vehicle with ID 80 is 17.6 meters away at (-13.3, -11.6). A vehicle with ID 82 is 19.6 meters away at (7.7, -18.0). A vehicle with ID 87 is 23.0 meters away at (-16.8, -15.7).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 1.5341994 -1.3457913] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.97327083 -0.7888379 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.96756756 -0.8149478 ] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[66.18884 66.44352]]

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.0) m/s. Its current heading (yaw) is 0.84

The most relevant actors are: A vehicle with ID 18 is 14.0 meters away at (-14.0, -0.3). A vehicle with ID 19 is 14.8 meters away at (6.0, 13.5). A vehicle with ID 75 is 15.9 meters away at (3.8, -15.4). A vehicle with ID 65 is 18.0 meters away at (-17.7, 3.2). A vehicle with ID 89 is 18.6 meters away at (-18.2, -3.9). A vehicle with ID 63 is 23.1 meters away at (-22.7, -4.1). A pedestrian with ID 71 is 23.5 meters away at (-5.6, -22.8). A vehicle with ID 82 is 24.1 meters away at (0.7, -24.1). A pedestrian with ID 73 is 24.5 meters away at (-5.7, -23.8). A vehicle with ID 17 is 25.7 meters away at (13.0, 22.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 1.3676665 -1.1756188] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2147529 -0.7428377] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.9995006 -0.836919 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

There are active red lights at the following coordinates: [[66.18884 66.44352]]

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.9) m/s. Its current heading (yaw) is 2.40

The most relevant actors are: A vehicle with ID 71 is 4.4 meters away at (4.2, 1.3). A pedestrian with ID 75 is 7.7 meters away at (-0.1, 7.7). A pedestrian with ID 73 is 8.4 meters away at (1.6, 8.3). A vehicle with ID 69 is 12.2 meters away at (11.3, -4.7). A vehicle with ID 82 is 12.8 meters away at (-12.4, -3.0). A vehicle with ID 78 is 13.1 meters away at (3.5, -12.7). A vehicle with ID 76 is 13.2 meters away at (-12.2, 5.0). A vehicle with ID 13 is 18.4 meters away at (13.7, -12.3). A vehicle with ID 29 is 19.7 meters away at (-16.4, 10.9). A vehicle with ID 72 is 25.6 meters away at (21.7, -13.6).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.06596128 -0.01319126] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.01263721  0.00318844] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [10.565523 -8.402362] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 9.48148 -7.66166] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.53653795  0.34903258] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.5040817  3.816966 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-7.895029   3.4847407] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.8) m/s. Its current heading (yaw) is 2.66

The most relevant actors are: A vehicle with ID 76 is 3.7 meters away at (-0.6, -3.7). A pedestrian with ID 75 is 12.3 meters away at (12.3, -1.4). A pedestrian with ID 73 is 13.8 meters away at (13.8, -1.1). A vehicle with ID 13 is 18.2 meters away at (14.3, -11.3). A vehicle with ID 71 is 18.3 meters away at (16.5, -7.9). A vehicle with ID 92 is 18.4 meters away at (-18.4, -0.9). A vehicle with ID 83 is 20.1 meters away at (-19.7, 4.0). A vehicle with ID 81 is 20.8 meters away at (1.4, 20.8). A vehicle with ID 29 is 23.3 meters away at (-21.7, 8.4). A vehicle with ID 69 is 27.2 meters away at (23.4, -14.0).

The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.04610551 -0.0844228 ] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.06545936 -0.05185382] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-6.7230105  5.819908 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 7.981329 -3.626968] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-9.85824    3.3299477] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.