The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.8) m/s. Its current heading (yaw) is 2.00 radians with an angular velocity of 2.00 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 5.7 meters away at (5.5, 1.5). A unknown object with ID 12 is 9.3 meters away at (-8.7, 3.4). A vehicle with ID 56 is 9.5 meters away at (-8.4, -4.4). A unknown object with ID 58 is 9.7 meters away at (-9.6, 1.3). A unknown object with ID 59 is 11.0 meters away at (-10.5, 3.3). A vehicle with ID 57 is 11.2 meters away at (-10.7, -3.3). A unknown object with ID 63 is 13.1 meters away at (-12.4, 4.3). A vehicle with ID 15 is 15.2 meters away at (-6.0, -14.0). A vehicle with ID 66 is 16.2 meters away at (13.9, 8.5). A unknown object with ID 60 is 17.9 meters away at (-1.8, -17.8).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-6.265679e-05  5.643194e-03] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 0.6279137  -0.47188717] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 1.98 radians with an angular velocity of 1.98 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 5.8 meters away at (5.7, 1.0). A unknown object with ID 12 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 58 is 9.5 meters away at (-9.4, 0.8). A vehicle with ID 56 is 9.5 meters away at (-8.1, -4.9). A vehicle with ID 80 is 11.0 meters away at (10.8, 1.8). A vehicle with ID 66 is 17.3 meters away at (16.5, 5.3). A unknown object with ID 65 is 20.5 meters away at (-0.4, -20.5). A unknown object with ID 69 is 23.3 meters away at (-1.3, -23.2). A vehicle with ID 74 is 24.8 meters away at (1.8, -24.7). A unknown object with ID 8 is 25.7 meters away at (-22.9, 11.6).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00805386 -0.00844592] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-11.169495    4.8252263] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 1.8458154 -2.8066478] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [1.4902415 5.716471 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 1.98 radians with an angular velocity of 1.98 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 5.8 meters away at (5.8, 1.0). A unknown object with ID 12 is 8.8 meters away at (-8.3, 2.8). A unknown object with ID 58 is 9.4 meters away at (-9.4, 0.7). A vehicle with ID 56 is 9.5 meters away at (-8.1, -5.0). A vehicle with ID 48 is 11.1 meters away at (-10.4, -4.0). A vehicle with ID 74 is 15.0 meters away at (3.6, -14.6). A vehicle with ID 80 is 16.5 meters away at (-11.7, 11.6). A unknown object with ID 41 is 18.3 meters away at (-1.5, -18.3). A vehicle with ID 66 is 18.5 meters away at (18.0, -4.3). A pedestrian with ID 33 is 18.7 meters away at (-0.6, -18.7).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.00129145 -0.00572497] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0.2645584 3.9574285] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-11.504778    5.0362134] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.1937304 -6.3619056] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00194913 -0.00184831] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 1.5) m/s. Its current heading (yaw) is 2.07 radians with an angular velocity of 2.07 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 6.2 meters away at (6.2, 0.0). A unknown object with ID 12 is 8.1 meters away at (-7.9, 1.9). A unknown object with ID 58 is 9.0 meters away at (-8.9, -0.2). A vehicle with ID 56 is 9.6 meters away at (-7.6, -5.8). A unknown object with ID 9 is 10.1 meters away at (-9.9, 1.9). A vehicle with ID 74 is 10.5 meters away at (3.8, -9.8). A vehicle with ID 48 is 11.0 meters away at (-9.9, -4.8). A pedestrian with ID 33 is 19.6 meters away at (-0.0, -19.6). A pedestrian with ID 37 is 21.1 meters away at (-0.7, -21.1). A vehicle with ID 82 is 21.3 meters away at (0.3, 21.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.02417334 -0.03398954] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.2625719  1.8807287] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.07372513 -0.04643554] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.02029637 -0.01471751] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 3.3881714 -1.559097 ] m/s.

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 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A vehicle with ID 20 is 13.3 meters away at (-9.5, -9.3). A vehicle with ID 21 is 15.1 meters away at (4.2, -14.5). A vehicle with ID 22 is 20.6 meters away at (-11.3, -17.2). A vehicle with ID 23 is 23.2 meters away at (-11.2, -20.3). A vehicle with ID 24 is 28.4 meters away at (-12.3, -25.6). A unknown object with ID 18 is 32.5 meters away at (29.5, -13.6). A vehicle with ID 25 is 33.5 meters away at (-12.8, -31.0). A vehicle with ID 26 is 38.0 meters away at (21.9, 31.0). A pedestrian with ID 27 is 41.4 meters away at (28.4, -30.0). A vehicle with ID 32 is 55.2 meters away at (54.8, 7.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02723688 -0.0129196 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 20 is 12.9 meters away at (-7.8, -10.4). A vehicle with ID 21 is 16.6 meters away at (6.0, -15.5). A vehicle with ID 22 is 20.6 meters away at (-9.5, -18.3). A vehicle with ID 23 is 23.4 meters away at (-9.3, -21.4). A vehicle with ID 24 is 28.7 meters away at (-10.8, -26.6). A vehicle with ID 25 is 33.9 meters away at (-11.2, -32.0). A vehicle with ID 26 is 38.1 meters away at (23.6, 30.0). A pedestrian with ID 27 is 43.4 meters away at (30.2, -31.2). A vehicle with ID 15 is 43.7 meters away at (38.4, 20.9). A vehicle with ID 14 is 45.3 meters away at (40.8, 19.7).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.17353247 -0.13127752] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 3.2) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 20 is 14.9 meters away at (-0.3, -14.9). A vehicle with ID 22 is 22.9 meters away at (-2.1, -22.8). A vehicle with ID 21 is 24.3 meters away at (13.6, -20.1). A vehicle with ID 23 is 25.9 meters away at (-2.2, -25.8). A pedestrian with ID 19 is 28.3 meters away at (-17.2, -22.5). A vehicle with ID 24 is 31.2 meters away at (-3.3, -31.1). A vehicle with ID 25 is 36.7 meters away at (-3.9, -36.5). A vehicle with ID 26 is 40.2 meters away at (31.1, 25.4). A vehicle with ID 14 is 50.8 meters away at (48.5, 15.0). A vehicle with ID 32 is 64.1 meters away at (64.1, 1.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00049028 -0.00056877] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 3.9) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 20 is 25.0 meters away at (11.8, -22.0). A vehicle with ID 22 is 31.5 meters away at (10.0, -29.9). A vehicle with ID 23 is 34.5 meters away at (10.0, -33.1). A vehicle with ID 21 is 37.5 meters away at (25.8, -27.2). A vehicle with ID 24 is 39.3 meters away at (8.8, -38.3). A vehicle with ID 25 is 44.5 meters away at (8.3, -43.7). A vehicle with ID 26 is 47.0 meters away at (43.3, 18.3). A vehicle with ID 32 is 76.5 meters away at (76.3, -5.6). A cyclist with ID 7 is 79.5 meters away at (61.1, -50.8). A vehicle with ID 34 is 81.8 meters away at (81.3, -8.7).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [0.01203856 0.03414768] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.6) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 16 is 3.0 meters away at (-2.7, 1.3). A vehicle with ID 21 is 7.3 meters away at (2.0, 7.0). A unknown object with ID 18 is 8.1 meters away at (-5.1, 6.3). A vehicle with ID 19 is 8.4 meters away at (5.4, 6.4). A vehicle with ID 22 is 22.7 meters away at (-22.1, 5.3). A pedestrian with ID 27 is 33.3 meters away at (25.8, 21.1). A vehicle with ID 30 is 34.4 meters away at (-24.9, -23.6). A vehicle with ID 31 is 36.3 meters away at (4.9, 36.0). A vehicle with ID 34 is 41.1 meters away at (-1.2, 41.1). A vehicle with ID 35 is 44.4 meters away at (-10.3, 43.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.07573237 -0.17921053] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.7381333  0.6648013] m/s.

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 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-2.9, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.8, 6.7). A vehicle with ID 19 is 8.0 meters away at (5.2, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 6.0). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 32.8 meters away at (25.4, 20.6). A vehicle with ID 30 is 34.8 meters away at (-25.2, -23.9). A vehicle with ID 31 is 36.0 meters away at (4.7, 35.7). A vehicle with ID 34 is 40.8 meters away at (-1.5, 40.8). A vehicle with ID 36 is 45.4 meters away at (22.8, 39.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.00469919 -0.01359802] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-3.0, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.7, 6.6). A vehicle with ID 19 is 7.9 meters away at (5.1, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 6.0). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 31.6 meters away at (24.9, 19.5). A vehicle with ID 30 is 34.8 meters away at (-25.3, -24.0). A unknown object with ID 4 is 35.3 meters away at (28.9, -20.4). A vehicle with ID 31 is 36.0 meters away at (4.6, 35.7). A unknown object with ID 6 is 37.8 meters away at (34.4, -15.6).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.3958575  -0.93594956] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 16 is 3.1 meters away at (-3.0, 1.0). A vehicle with ID 21 is 6.9 meters away at (1.7, 6.6). A vehicle with ID 19 is 7.9 meters away at (5.1, 6.1). A unknown object with ID 18 is 8.0 meters away at (-5.4, 5.9). A vehicle with ID 22 is 22.9 meters away at (-22.3, 5.1). A pedestrian with ID 27 is 28.7 meters away at (22.9, 17.3). A vehicle with ID 30 is 34.8 meters away at (-25.3, -24.0). A unknown object with ID 4 is 35.3 meters away at (28.6, -20.7). A vehicle with ID 31 is 36.0 meters away at (4.6, 35.7). A unknown object with ID 6 is 37.8 meters away at (34.5, -15.5).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.228745  -1.4747428] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.6) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 41 is 8.3 meters away at (-8.3, 0.9). A vehicle with ID 52 is 18.7 meters away at (-10.0, -15.9). A vehicle with ID 44 is 18.9 meters away at (1.7, 18.9). A vehicle with ID 49 is 20.1 meters away at (-17.6, -9.6). A vehicle with ID 50 is 22.0 meters away at (-14.7, -16.4). A unknown object with ID 57 is 25.1 meters away at (24.8, 3.8). A vehicle with ID 60 is 25.7 meters away at (-14.4, -21.2). A unknown object with ID 59 is 26.2 meters away at (25.8, 5.0). A vehicle with ID 46 is 31.6 meters away at (-16.4, 27.0). A unknown object with ID 48 is 38.1 meters away at (-10.9, 36.5).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.4166598 3.8532934] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 41 is 8.6 meters away at (-8.6, 0.5). A vehicle with ID 50 is 14.2 meters away at (-9.5, -10.6). A vehicle with ID 44 is 18.4 meters away at (2.0, 18.3). A vehicle with ID 52 is 19.3 meters away at (-10.3, -16.3). A vehicle with ID 49 is 20.5 meters away at (-17.9, -10.0). A unknown object with ID 57 is 24.7 meters away at (24.5, 3.4). A unknown object with ID 59 is 25.8 meters away at (25.4, 4.6). A vehicle with ID 60 is 26.2 meters away at (-14.7, -21.6). A unknown object with ID 27 is 30.5 meters away at (13.3, 27.4). A vehicle with ID 46 is 31.4 meters away at (-16.7, 26.6).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.88675  2.054022] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.8990932 -0.282891 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.2) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 41 is 8.8 meters away at (-8.8, 0.3). A vehicle with ID 50 is 12.5 meters away at (-8.3, -9.3). A vehicle with ID 44 is 18.2 meters away at (3.7, 17.8). A vehicle with ID 52 is 19.6 meters away at (-10.5, -16.5). A vehicle with ID 49 is 20.8 meters away at (-18.1, -10.2). A unknown object with ID 57 is 24.5 meters away at (24.3, 3.2). A unknown object with ID 59 is 25.6 meters away at (25.3, 4.3). A unknown object with ID 3 is 26.1 meters away at (3.4, 25.9). A vehicle with ID 60 is 26.5 meters away at (-14.9, -21.9). A unknown object with ID 27 is 30.2 meters away at (13.2, 27.2).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.3909681  -0.10305367] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.1) m/s. Its current heading (yaw) is 1.00 radians with an angular velocity of 1.00 rad/s.

The most relevant actors are: A vehicle with ID 41 is 9.6 meters away at (-9.6, -0.6). A vehicle with ID 50 is 13.7 meters away at (-9.1, -10.2). A vehicle with ID 44 is 17.6 meters away at (5.2, 16.8). A vehicle with ID 52 is 20.9 meters away at (-11.4, -17.5). A vehicle with ID 49 is 22.0 meters away at (-19.0, -11.2). A unknown object with ID 57 is 23.6 meters away at (23.5, 2.1). A unknown object with ID 59 is 24.7 meters away at (24.4, 3.3). A unknown object with ID 3 is 25.1 meters away at (2.6, 24.9). A vehicle with ID 60 is 27.7 meters away at (-15.8, -22.8). A unknown object with ID 1 is 30.0 meters away at (-6.1, 29.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.2341862  0.21212068] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -11.1) m/s. Its current heading (yaw) is -1.27 radians with an angular velocity of -1.27 rad/s.

The most relevant actors are: A vehicle with ID 5 is 40.8 meters away at (-16.3, 37.4). A vehicle with ID 6 is 46.3 meters away at (-18.2, 42.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.3918423  -0.09559277] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -11.1) m/s. Its current heading (yaw) is -1.26 radians with an angular velocity of -1.26 rad/s.

The most relevant actors are: A vehicle with ID 5 is 63.9 meters away at (-23.8, 59.3). A vehicle with ID 6 is 69.4 meters away at (-25.4, 64.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.2) m/s. Its current heading (yaw) is -1.27 radians with an angular velocity of -1.27 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -11.1) m/s. Its current heading (yaw) is -1.27 radians with an angular velocity of -1.27 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.5) m/s. Its current heading (yaw) is -1.98 radians with an angular velocity of -1.98 rad/s.

The most relevant actors are: A unknown object with ID 2 is 21.7 meters away at (-6.8, 20.6). A vehicle with ID 14 is 38.9 meters away at (-33.9, -19.2).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.8913145 3.754027 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.02 radians with an angular velocity of -2.02 rad/s.

The most relevant actors are: A vehicle with ID 14 is 28.0 meters away at (-26.1, -10.1). A unknown object with ID 9 is 64.8 meters away at (62.9, -15.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [2.7571263 1.4342362] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -2.02 radians with an angular velocity of -2.02 rad/s.

The most relevant actors are: A vehicle with ID 14 is 23.4 meters away at (-21.8, -8.3). A unknown object with ID 10 is 33.5 meters away at (3.2, 33.3). A unknown object with ID 6 is 39.9 meters away at (39.8, -2.0).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0.7413843  0.26325172] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.4) m/s. Its current heading (yaw) is -2.05 radians with an angular velocity of -2.05 rad/s.

The most relevant actors are: A vehicle with ID 14 is 22.4 meters away at (-21.0, -7.6). A pedestrian with ID 1 is 53.8 meters away at (-46.3, -27.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.60388845 1.3272783 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 1.1) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (-11.1, -2.7). A pedestrian with ID 26 is 12.9 meters away at (-4.6, -12.1). A vehicle with ID 56 is 13.4 meters away at (-5.8, -12.1). A pedestrian with ID 57 is 13.7 meters away at (-4.6, -12.9). A pedestrian with ID 39 is 15.3 meters away at (14.6, -4.5). A pedestrian with ID 59 is 16.4 meters away at (15.8, -4.2). A vehicle with ID 58 is 17.2 meters away at (-15.4, -7.7). A vehicle with ID 60 is 21.3 meters away at (-11.1, -18.2). A vehicle with ID 61 is 23.0 meters away at (-19.3, -12.5). A vehicle with ID 54 is 23.6 meters away at (-7.6, 22.4).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00250361 0.00571497] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.01465798 -0.01110222] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.24055359 -0.12769328] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.06528492 -1.0222566 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 3.9) m/s. Its current heading (yaw) is 1.47 radians with an angular velocity of 1.47 rad/s.

The most relevant actors are: A vehicle with ID 55 is 15.4 meters away at (-13.4, -7.7). A pedestrian with ID 26 is 18.5 meters away at (-7.0, -17.1). A vehicle with ID 56 is 18.9 meters away at (-8.2, -17.0). A pedestrian with ID 57 is 19.3 meters away at (-7.2, -17.9). A vehicle with ID 54 is 19.9 meters away at (-9.8, 17.4). A vehicle with ID 58 is 21.8 meters away at (-17.7, -12.6). A vehicle with ID 63 is 23.3 meters away at (22.9, -4.4). A unknown object with ID 22 is 25.3 meters away at (10.9, 22.9). A vehicle with ID 53 is 26.2 meters away at (-17.1, 19.9). A vehicle with ID 60 is 26.8 meters away at (-13.5, -23.2).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.01237833 -0.01966533] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.02448901 -0.0144856 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 4.2) m/s. Its current heading (yaw) is 2.35 radians with an angular velocity of 2.35 rad/s.

The most relevant actors are: A vehicle with ID 54 is 10.6 meters away at (-6.3, 8.5). A vehicle with ID 53 is 17.5 meters away at (-13.5, 11.1). A vehicle with ID 55 is 19.3 meters away at (-9.9, -16.5). A unknown object with ID 22 is 20.1 meters away at (14.4, 14.0). A vehicle with ID 49 is 21.7 meters away at (-21.4, 3.3). A vehicle with ID 52 is 22.7 meters away at (-18.7, 12.9). A unknown object with ID 71 is 24.3 meters away at (16.6, 17.7). A vehicle with ID 58 is 25.7 meters away at (-14.2, -21.4). A vehicle with ID 56 is 26.3 meters away at (-4.6, -25.9). A pedestrian with ID 26 is 26.4 meters away at (-3.2, -26.2).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03421519 0.01472975] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.7) m/s. Its current heading (yaw) is 2.77 radians with an angular velocity of 2.77 rad/s.

The most relevant actors are: A vehicle with ID 53 is 4.8 meters away at (-2.2, 4.2). A vehicle with ID 54 is 5.2 meters away at (5.0, 1.7). A vehicle with ID 52 is 9.5 meters away at (-7.3, 6.0). A vehicle with ID 49 is 10.7 meters away at (-10.0, -3.6). A vehicle with ID 51 is 15.7 meters away at (-13.5, 8.0). A vehicle with ID 8 is 16.0 meters away at (-15.9, -1.6). A vehicle with ID 55 is 23.4 meters away at (1.6, -23.3). A vehicle with ID 50 is 24.2 meters away at (-21.6, 10.9). A vehicle with ID 1 is 27.7 meters away at (-27.6, 2.3). A vehicle with ID 58 is 28.4 meters away at (-2.7, -28.3).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -6.2) m/s. Its current heading (yaw) is -1.65 radians with an angular velocity of -1.65 rad/s.

The most relevant actors are: A vehicle with ID 109 is 7.6 meters away at (-7.3, 2.0). A vehicle with ID 107 is 8.6 meters away at (-7.3, 4.6). A vehicle with ID 105 is 10.1 meters away at (-7.0, 7.3). A unknown object with ID 52 is 10.2 meters away at (-10.1, -0.9). A vehicle with ID 103 is 12.1 meters away at (-7.1, 9.8). A vehicle with ID 101 is 14.5 meters away at (-7.0, 12.8). A vehicle with ID 102 is 16.9 meters away at (-7.1, 15.4). A vehicle with ID 104 is 19.3 meters away at (-6.6, 18.1). A vehicle with ID 116 is 20.4 meters away at (-20.3, -1.3). A vehicle with ID 114 is 20.7 meters away at (-20.7, 1.4).

The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.9) m/s. Its current heading (yaw) is -2.20 radians with an angular velocity of -2.20 rad/s.

The most relevant actors are: A vehicle with ID 109 is 13.0 meters away at (-4.5, 12.2). A vehicle with ID 107 is 15.4 meters away at (-4.4, 14.7). A unknown object with ID 119 is 16.8 meters away at (15.6, -6.4). A vehicle with ID 105 is 17.9 meters away at (-4.2, 17.4). A vehicle with ID 116 is 19.6 meters away at (-17.5, 8.8). A vehicle with ID 103 is 20.4 meters away at (-4.3, 20.0). A unknown object with ID 83 is 20.6 meters away at (-5.4, -19.8). A vehicle with ID 114 is 21.3 meters away at (-17.9, 11.6). A unknown object with ID 124 is 21.7 meters away at (-8.7, -19.8). A vehicle with ID 113 is 23.1 meters away at (-17.9, 14.5).

The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -1.5) m/s. Its current heading (yaw) is -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A unknown object with ID 124 is 14.3 meters away at (-0.7, -14.2). A unknown object with ID 83 is 14.5 meters away at (2.7, -14.3). A unknown object with ID 58 is 14.7 meters away at (-3.4, -14.3). A unknown object with ID 94 is 15.2 meters away at (-5.4, -14.2). A unknown object with ID 69 is 16.1 meters away at (-7.5, -14.2). A vehicle with ID 116 is 17.0 meters away at (-9.2, 14.2). A unknown object with ID 68 is 17.4 meters away at (-9.2, -14.7). A vehicle with ID 109 is 18.1 meters away at (3.8, 17.7). A vehicle with ID 74 is 20.2 meters away at (-17.8, -9.7). A vehicle with ID 107 is 20.4 meters away at (3.8, 20.1).

The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -0.6) m/s. Its current heading (yaw) is -3.05 radians with an angular velocity of -3.05 rad/s.

The most relevant actors are: A vehicle with ID 74 is 9.4 meters away at (-5.4, -7.7). A vehicle with ID 33 is 11.0 meters away at (-8.5, -7.0). A unknown object with ID 68 is 13.3 meters away at (3.0, -12.9). A unknown object with ID 69 is 13.3 meters away at (5.1, -12.3). A unknown object with ID 94 is 14.2 meters away at (7.0, -12.3). A vehicle with ID 31 is 14.3 meters away at (-12.2, -7.4). A unknown object with ID 58 is 15.1 meters away at (8.7, -12.3). A unknown object with ID 124 is 17.0 meters away at (11.7, -12.3). A vehicle with ID 30 is 17.4 meters away at (-15.8, -7.4). A vehicle with ID 89 is 17.8 meters away at (-14.1, 10.9).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.1) m/s. Its current heading (yaw) is 2.01 radians with an angular velocity of 2.01 rad/s.

The most relevant actors are: A vehicle with ID 5 is 8.6 meters away at (2.3, -8.3). A vehicle with ID 72 is 8.7 meters away at (8.0, 3.2). A vehicle with ID 57 is 9.8 meters away at (-8.7, -4.4). A unknown object with ID 56 is 9.8 meters away at (-9.2, 3.4). A unknown object with ID 58 is 10.2 meters away at (-10.1, 1.3). A unknown object with ID 59 is 10.9 meters away at (-9.4, 5.6). A unknown object with ID 61 is 11.5 meters away at (-9.9, 6.0). A unknown object with ID 63 is 11.5 meters away at (-11.0, 3.4). A unknown object with ID 65 is 12.2 meters away at (-10.4, 6.4). A unknown object with ID 12 is 13.1 meters away at (-11.2, 6.9).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-15.979452   6.939056] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 1.3) m/s. Its current heading (yaw) is 2.09 radians with an angular velocity of 2.09 rad/s.

The most relevant actors are: A unknown object with ID 56 is 8.8 meters away at (-8.5, 2.3). A unknown object with ID 58 is 9.6 meters away at (-9.6, 0.1). A vehicle with ID 57 is 9.8 meters away at (-8.1, -5.5). A vehicle with ID 5 is 9.8 meters away at (2.9, -9.4). A unknown object with ID 59 is 9.9 meters away at (-8.8, 4.6). A unknown object with ID 63 is 10.7 meters away at (-10.5, 2.3). A unknown object with ID 61 is 10.8 meters away at (-9.5, 5.0). A unknown object with ID 65 is 11.3 meters away at (-10.0, 5.3). A unknown object with ID 12 is 12.1 meters away at (-10.7, 5.8). A unknown object with ID 66 is 19.4 meters away at (-1.5, -19.3).

The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 2.7) m/s. Its current heading (yaw) is 2.29 radians with an angular velocity of 2.29 rad/s.

The most relevant actors are: A unknown object with ID 59 is 5.9 meters away at (-5.9, 0.4). A unknown object with ID 56 is 5.9 meters away at (-5.6, -1.8). A unknown object with ID 61 is 6.5 meters away at (-6.5, 0.8). A unknown object with ID 48 is 7.0 meters away at (-6.9, 1.1). A unknown object with ID 65 is 7.2 meters away at (-7.1, 1.2). A unknown object with ID 58 is 7.7 meters away at (-6.6, -4.0). A unknown object with ID 63 is 7.8 meters away at (-7.5, -1.8). A unknown object with ID 12 is 7.9 meters away at (-7.7, 1.7). A unknown object with ID 50 is 9.5 meters away at (-9.5, -0.7). A vehicle with ID 34 is 10.4 meters away at (5.2, 9.0).

The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 2.831563  -1.3453244] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 12 is 4.1 meters away at (-0.8, -4.0). A unknown object with ID 65 is 4.5 meters away at (-0.0, -4.5). A unknown object with ID 48 is 4.7 meters away at (0.2, -4.7). A unknown object with ID 61 is 4.9 meters away at (0.4, -4.9). A unknown object with ID 59 is 5.3 meters away at (1.0, -5.2). A unknown object with ID 63 is 7.6 meters away at (-0.5, -7.5). A unknown object with ID 56 is 7.6 meters away at (1.4, -7.4). A unknown object with ID 11 is 8.7 meters away at (-8.7, -0.6). A unknown object with ID 58 is 9.7 meters away at (0.3, -9.6). A unknown object with ID 54 is 10.3 meters away at (-10.3, -0.0).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 3.3) m/s. Its current heading (yaw) is 0.92 radians with an angular velocity of 0.92 rad/s.

The most relevant actors are: A vehicle with ID 13 is 11.2 meters away at (-10.5, -3.9). A unknown object with ID 68 is 14.6 meters away at (-11.3, -9.2). A unknown object with ID 69 is 15.2 meters away at (-12.4, -8.7). A unknown object with ID 70 is 17.5 meters away at (-14.4, -9.8). A unknown object with ID 62 is 17.6 meters away at (-14.5, -9.9). A unknown object with ID 71 is 19.8 meters away at (-16.9, -10.4). A vehicle with ID 85 is 21.0 meters away at (15.6, 14.0). A pedestrian with ID 82 is 21.0 meters away at (19.7, 7.3). A unknown object with ID 72 is 21.8 meters away at (-19.0, -10.8). A unknown object with ID 74 is 22.7 meters away at (-20.3, -10.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.6710591  -0.22455315] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.9101878 -4.49711  ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.5345944 -1.0916269] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 5.6) m/s. Its current heading (yaw) is 1.12 radians with an angular velocity of 1.12 rad/s.

The most relevant actors are: A vehicle with ID 85 is 7.8 meters away at (6.7, -4.1). A unknown object with ID 67 is 16.4 meters away at (3.2, 16.1). A vehicle with ID 13 is 16.6 meters away at (-10.3, -13.0). A unknown object with ID 84 is 18.1 meters away at (2.9, 17.8). A unknown object with ID 16 is 18.8 meters away at (4.6, 18.2). A unknown object with ID 57 is 19.5 meters away at (1.6, 19.4). A unknown object with ID 15 is 20.8 meters away at (5.3, 20.1). A unknown object with ID 31 is 22.9 meters away at (6.1, 22.1). A unknown object with ID 68 is 24.6 meters away at (-16.3, -18.3). A unknown object with ID 55 is 25.0 meters away at (6.8, 24.0).

The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.9050204 -4.346065 ] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [2.9170434  0.56192106] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.2) m/s. Its current heading (yaw) is 1.16 radians with an angular velocity of 1.16 rad/s.

The most relevant actors are: A unknown object with ID 16 is 6.4 meters away at (-0.9, 6.3). A unknown object with ID 84 is 6.6 meters away at (-2.6, 6.1). A unknown object with ID 15 is 8.3 meters away at (0.0, 8.3). A unknown object with ID 57 is 8.4 meters away at (-3.7, 7.5). A unknown object with ID 25 is 9.8 meters away at (-2.9, 9.3). A unknown object with ID 31 is 10.3 meters away at (0.8, 10.2). A unknown object with ID 46 is 11.6 meters away at (-2.0, 11.4). A unknown object with ID 55 is 12.3 meters away at (1.5, 12.2). A unknown object with ID 52 is 12.8 meters away at (-1.0, 12.8). A unknown object with ID 26 is 13.6 meters away at (-1.0, 13.6).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 6.1) m/s. Its current heading (yaw) is 1.17 radians with an angular velocity of 1.17 rad/s.

The most relevant actors are: A unknown object with ID 55 is 3.7 meters away at (-3.7, 0.3). A unknown object with ID 31 is 4.7 meters away at (-4.4, -1.7). A unknown object with ID 20 is 4.8 meters away at (-4.4, 2.0). A unknown object with ID 52 is 6.2 meters away at (-6.2, 0.7). A unknown object with ID 15 is 6.3 meters away at (-5.1, -3.7). A unknown object with ID 26 is 6.4 meters away at (-6.3, 1.4). A unknown object with ID 46 is 7.2 meters away at (-7.2, -0.6). A unknown object with ID 16 is 8.3 meters away at (-6.0, -5.7). A unknown object with ID 25 is 8.9 meters away at (-8.3, -3.2). A unknown object with ID 36 is 9.6 meters away at (-8.7, -4.0).

The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 6.2) m/s. Its current heading (yaw) is 1.91 radians with an angular velocity of 1.91 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 6.2) m/s. Its current heading (yaw) is 1.93 radians with an angular velocity of 1.93 rad/s.

The most relevant actors are: A unknown object with ID 7 is 9.3 meters away at (-5.3, -7.7).

The unknown object with ID 7 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 (-2.2, 6.0) m/s. Its current heading (yaw) is 1.92 radians with an angular velocity of 1.92 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 5.9) m/s. Its current heading (yaw) is 1.90 radians with an angular velocity of 1.90 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.5) m/s. Its current heading (yaw) is 0.58 radians with an angular velocity of 0.58 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.51 radians with an angular velocity of 0.51 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.51 radians with an angular velocity of 0.51 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.51 radians with an angular velocity of 0.51 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.43 radians with an angular velocity of -2.43 rad/s.

The most relevant actors are: A vehicle with ID 21 is 4.4 meters away at (-0.6, -4.4). A vehicle with ID 22 is 4.9 meters away at (4.8, 0.7). A vehicle with ID 24 is 7.6 meters away at (5.4, 5.3). A vehicle with ID 25 is 11.3 meters away at (10.2, 4.9). A vehicle with ID 26 is 17.3 meters away at (14.8, 8.9). A vehicle with ID 27 is 25.2 meters away at (20.9, 14.1). A vehicle with ID 29 is 32.3 meters away at (-17.6, -27.0). A vehicle with ID 28 is 34.0 meters away at (27.8, 19.6). A vehicle with ID 30 is 38.4 meters away at (-22.1, -31.4). A vehicle with ID 31 is 46.7 meters away at (-27.4, -37.8).

The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.73926723 -0.90036565] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.25815195 -0.17706756] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.4) m/s. Its current heading (yaw) is -2.41 radians with an angular velocity of -2.41 rad/s.

The most relevant actors are: A vehicle with ID 22 is 5.2 meters away at (5.2, 0.9). A vehicle with ID 24 is 8.9 meters away at (6.4, 6.2). A vehicle with ID 21 is 8.9 meters away at (-2.0, -8.7). A vehicle with ID 25 is 12.2 meters away at (10.9, 5.5). A vehicle with ID 26 is 18.7 meters away at (15.9, 9.9). A vehicle with ID 27 is 26.5 meters away at (21.9, 15.0). A vehicle with ID 29 is 30.9 meters away at (-16.5, -26.1). A vehicle with ID 28 is 35.0 meters away at (28.6, 20.3). A vehicle with ID 30 is 37.1 meters away at (-21.0, -30.6). A vehicle with ID 31 is 45.3 meters away at (-26.3, -36.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.3439122 -1.3755767] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.9094665 -4.7592278] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.636926   -0.52673244] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.5) m/s. Its current heading (yaw) is -2.56 radians with an angular velocity of -2.56 rad/s.

The most relevant actors are: A vehicle with ID 22 is 4.8 meters away at (4.7, -0.6). A vehicle with ID 24 is 12.5 meters away at (9.3, 8.5). A vehicle with ID 25 is 14.1 meters away at (12.4, 6.6). A vehicle with ID 21 is 17.0 meters away at (7.3, -15.4). A unknown object with ID 14 is 21.2 meters away at (17.0, -12.7). A vehicle with ID 26 is 22.8 meters away at (19.1, 12.5). A vehicle with ID 29 is 23.9 meters away at (-10.6, -21.5). A unknown object with ID 9 is 25.2 meters away at (17.4, 18.2). A vehicle with ID 30 is 29.8 meters away at (-15.0, -25.8). A vehicle with ID 27 is 33.3 meters away at (27.0, 19.5).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.8055487 -4.7499266] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.4942923 -2.374337 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.551659  -3.2037745] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.813439 -6.018734] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.825073 -2.518056] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.1184828 -0.9047705] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 1.3) m/s. Its current heading (yaw) is 2.89 radians with an angular velocity of 2.89 rad/s.

The most relevant actors are: A vehicle with ID 22 is 10.4 meters away at (2.2, -10.1). A vehicle with ID 25 is 12.6 meters away at (12.6, -0.1). A vehicle with ID 24 is 12.9 meters away at (12.2, 4.3). A vehicle with ID 29 is 19.7 meters away at (-1.3, -19.6). A vehicle with ID 26 is 21.5 meters away at (20.3, 7.1). A vehicle with ID 30 is 24.7 meters away at (-5.6, -24.0). A vehicle with ID 31 is 32.1 meters away at (-10.8, -30.3). A unknown object with ID 9 is 33.5 meters away at (26.7, 20.2). A vehicle with ID 15 is 35.1 meters away at (35.1, -0.9). A vehicle with ID 27 is 35.3 meters away at (30.9, 17.2).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.7675915 -6.9068594] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-5.7168183 -5.7184787] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-3.9249444 -3.7362227] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.0727825 -4.8225393] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.041528  -3.3427167] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -5.2) m/s. Its current heading (yaw) is -0.58 radians with an angular velocity of -0.58 rad/s.

The most relevant actors are: A vehicle with ID 37 is 4.4 meters away at (4.3, 0.9). A vehicle with ID 62 is 18.7 meters away at (18.5, 2.4). A vehicle with ID 49 is 24.3 meters away at (-20.1, 13.7). A vehicle with ID 92 is 28.5 meters away at (28.2, -4.3). A vehicle with ID 51 is 33.2 meters away at (-25.8, 20.8). A pedestrian with ID 79 is 56.7 meters away at (42.1, -37.9). A unknown object with ID 106 is 58.2 meters away at (-58.2, 1.6). A vehicle with ID 113 is 66.5 meters away at (61.3, -25.7). A vehicle with ID 67 is 69.0 meters away at (55.4, -41.1). A vehicle with ID 70 is 75.9 meters away at (61.3, -44.7).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 9.706606 -6.484013] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.767838  5.146417] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [10.927375  -7.2771325] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-8.766932  5.326464] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 9.9425   -6.745923] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2905825  0.7740107] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.6483803  5.368854 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -5.5) m/s. Its current heading (yaw) is -0.60 radians with an angular velocity of -0.60 rad/s.

The most relevant actors are: A vehicle with ID 37 is 8.7 meters away at (8.4, -2.2). A vehicle with ID 92 is 17.2 meters away at (-3.9, 16.8). A vehicle with ID 59 is 18.5 meters away at (7.2, 17.0). A vehicle with ID 49 is 19.4 meters away at (-16.0, 11.0). A vehicle with ID 62 is 26.1 meters away at (-12.4, 23.0). A vehicle with ID 51 is 27.9 meters away at (-21.3, 18.0). A vehicle with ID 113 is 31.1 meters away at (30.8, -4.8). A pedestrian with ID 79 is 35.2 meters away at (24.2, -25.6). A pedestrian with ID 110 is 35.8 meters away at (34.8, 8.2). A vehicle with ID 76 is 48.3 meters away at (47.5, -8.6).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 9.995032 -6.931613] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-7.60045    5.0942407] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 9.019861  -6.0116086] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.4651213  4.852374 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 9.978843 -6.509126] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.4641943  4.824126 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.178411    0.79058653] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.01529432 -1.3458788 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.2) m/s. Its current heading (yaw) is -0.55 radians with an angular velocity of -0.55 rad/s.

The most relevant actors are: A vehicle with ID 37 is 13.3 meters away at (12.3, -5.1). A pedestrian with ID 79 is 13.8 meters away at (5.3, -12.7). A vehicle with ID 113 is 16.5 meters away at (-1.7, 16.4). A vehicle with ID 117 is 17.3 meters away at (16.7, 4.5). A vehicle with ID 49 is 19.2 meters away at (-15.8, 10.9). A vehicle with ID 87 is 24.1 meters away at (23.9, 3.0). A vehicle with ID 51 is 24.4 meters away at (-18.4, 16.1). A pedestrian with ID 110 is 24.5 meters away at (18.1, 16.5). A vehicle with ID 59 is 29.4 meters away at (-9.0, 28.0). A vehicle with ID 67 is 30.4 meters away at (23.4, -19.3).

The vehicle with ID 37 is traveling at a (x, y) velocity of [10.514478 -7.008501] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2085443  0.8502363] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.7149615  4.9046054] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [-7.3240676  5.088633 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 8.006982  -5.6029315] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-6.7634554  4.397435 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 9.478535 -6.379641] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.09461611 -1.2254734 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.6) m/s. Its current heading (yaw) is -0.50 radians with an angular velocity of -0.50 rad/s.

The most relevant actors are: A vehicle with ID 67 is 11.8 meters away at (6.7, -9.7). A pedestrian with ID 79 is 14.2 meters away at (-14.1, -1.7). A vehicle with ID 70 is 18.4 meters away at (12.7, -13.3). A vehicle with ID 76 is 18.5 meters away at (14.1, 12.0). A vehicle with ID 49 is 19.1 meters away at (-16.6, 9.5). A vehicle with ID 37 is 19.3 meters away at (16.8, -9.6). A vehicle with ID 51 is 21.5 meters away at (-16.9, 13.3). A vehicle with ID 98 is 23.6 meters away at (22.1, 8.0). A vehicle with ID 87 is 23.6 meters away at (-7.1, 22.5). A pedestrian with ID 110 is 23.6 meters away at (0.8, 23.6).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2224393  0.6969693] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.35336208  0.1853351 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 8.429227  -5.6380987] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [10.324969 -6.898693] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 8.834808 -5.992078] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [-7.1521597  4.967229 ] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.5603072 -1.1346391] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.9) m/s. Its current heading (yaw) is -2.06 radians with an angular velocity of -2.06 rad/s.

The most relevant actors are: A vehicle with ID 17 is 8.7 meters away at (-7.1, 5.0). A pedestrian with ID 18 is 9.4 meters away at (-5.6, 7.6). A pedestrian with ID 20 is 10.3 meters away at (-3.2, 9.8). A pedestrian with ID 21 is 12.0 meters away at (-1.3, 11.9). A vehicle with ID 22 is 17.8 meters away at (-1.8, 17.7). A unknown object with ID 11 is 40.6 meters away at (40.6, 0.7).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.46436465 -0.34556803] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00036949 0.06786612] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.38596547 0.73578995] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.5) m/s. Its current heading (yaw) is -2.36 radians with an angular velocity of -2.36 rad/s.

The most relevant actors are: A vehicle with ID 17 is 9.2 meters away at (-5.4, 7.5). A pedestrian with ID 18 is 10.9 meters away at (-3.8, 10.2). A pedestrian with ID 20 is 12.4 meters away at (-1.5, 12.3). A pedestrian with ID 21 is 16.2 meters away at (0.8, 16.2). A vehicle with ID 22 is 20.2 meters away at (-0.2, 20.2).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.12334091 0.58046925] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00769469 -0.00980766] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.1841094  0.92242354] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -0.1) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A vehicle with ID 17 is 9.6 meters away at (-0.5, 9.6). A pedestrian with ID 21 is 21.0 meters away at (5.2, 20.3). A vehicle with ID 22 is 22.9 meters away at (4.7, 22.5).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.30806872  0.7287826 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 0.5) m/s. Its current heading (yaw) is 3.02 radians with an angular velocity of 3.02 rad/s.

The most relevant actors are: A vehicle with ID 17 is 11.5 meters away at (7.4, 8.8). A pedestrian with ID 4 is 17.3 meters away at (-10.8, -13.5). A pedestrian with ID 1 is 18.7 meters away at (-11.2, -14.9). A pedestrian with ID 2 is 18.8 meters away at (-11.8, -14.6). A vehicle with ID 22 is 24.8 meters away at (12.5, 21.5). A vehicle with ID 8 is 71.3 meters away at (-44.5, -55.7). A vehicle with ID 9 is 71.6 meters away at (-46.8, -54.2). A vehicle with ID 10 is 71.7 meters away at (-39.3, -60.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.47581223 1.2400951 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.5714153 1.3778837] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.600523  1.3454933] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.5) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 22 is 13.3 meters away at (-13.2, -2.2). A unknown object with ID 20 is 20.0 meters away at (-1.1, -20.0). A vehicle with ID 24 is 22.3 meters away at (-6.3, 21.4). A vehicle with ID 30 is 23.0 meters away at (-6.9, -21.9). A cyclist with ID 23 is 23.4 meters away at (-19.8, 12.4). A vehicle with ID 33 is 25.3 meters away at (-8.9, -23.7). A vehicle with ID 31 is 28.9 meters away at (-0.6, 28.9). A unknown object with ID 27 is 33.8 meters away at (-33.5, -4.8). A vehicle with ID 47 is 34.2 meters away at (-29.8, 16.8). A vehicle with ID 45 is 34.8 meters away at (-34.4, 5.1).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 5.175269  -2.8650222] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.4556234 -2.141661 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [1.3568535 2.070187 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.7444987 -0.8757248] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.5517884  -0.44163385] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 22 is 12.8 meters away at (-0.3, -12.8). A vehicle with ID 24 is 17.1 meters away at (-9.2, 14.4). A unknown object with ID 20 is 20.3 meters away at (-0.7, -20.3). A vehicle with ID 30 is 23.1 meters away at (-6.6, -22.2). A cyclist with ID 23 is 23.2 meters away at (-16.6, 16.3). A vehicle with ID 33 is 25.6 meters away at (-8.4, -24.2). A vehicle with ID 31 is 25.9 meters away at (-2.8, 25.7). A vehicle with ID 28 is 31.7 meters away at (-29.2, -12.2). A unknown object with ID 27 is 33.6 meters away at (-33.2, -5.0). A vehicle with ID 47 is 33.7 meters away at (-29.4, 16.5).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 7.596193 -6.643959] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.0647943 -4.7836523] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [1.6907909 2.1731849] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.5714698 -1.8573793] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [4.4318104 5.4295797] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 24 is 9.1 meters away at (-8.7, 2.9). A unknown object with ID 20 is 20.3 meters away at (-0.7, -20.3). A vehicle with ID 28 is 21.8 meters away at (-21.5, -3.4). A vehicle with ID 31 is 22.8 meters away at (-6.0, 22.0). A vehicle with ID 30 is 23.2 meters away at (-6.5, -22.2). A cyclist with ID 23 is 24.0 meters away at (-12.2, 20.7). A vehicle with ID 33 is 25.5 meters away at (-8.4, -24.1). A vehicle with ID 19 is 29.9 meters away at (1.3, 29.9). A vehicle with ID 22 is 32.7 meters away at (17.0, -27.9). A unknown object with ID 27 is 33.5 meters away at (-33.1, -5.0).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.1698594 -6.0993705] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.8595572 3.3205967] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.3725969 -1.6880275] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [2.4891179 2.1307857] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.8264081 -2.2002945] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 9.308718  -8.0049715] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 24 is 8.1 meters away at (-0.2, -8.1). A vehicle with ID 28 is 12.9 meters away at (-12.9, -0.6). A vehicle with ID 31 is 20.3 meters away at (-8.6, 18.4). A unknown object with ID 20 is 20.3 meters away at (-0.7, -20.3). A vehicle with ID 30 is 23.2 meters away at (-6.4, -22.3). A vehicle with ID 33 is 25.6 meters away at (-8.3, -24.2). A vehicle with ID 19 is 25.9 meters away at (-2.0, 25.8). A vehicle with ID 40 is 26.1 meters away at (-25.8, -4.0). A cyclist with ID 23 is 26.5 meters away at (-7.6, 25.3). A unknown object with ID 27 is 33.5 meters away at (-33.1, -5.0).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.1136475 -4.586015 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 4.7636194 -0.8644632] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.4742975 -2.679803 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.4299662 -1.8193165] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [5.068735  6.8481956] m/s.The cyclist with ID 23 is traveling at a (x, y) velocity of [2.1512988 2.3441303] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.5, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 7.9 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A vehicle with ID 29 is 19.7 meters away at (7.0, -18.4). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 31 is 32.7 meters away at (-32.7, -1.1). A pedestrian with ID 38 is 39.6 meters away at (-37.2, 13.7).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.4344687e+00  1.9156695e-03] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.15169448 0.7714037 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00039783 0.00199014] m/s.

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 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.6, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 8.0 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A vehicle with ID 29 is 20.6 meters away at (-3.5, -20.3). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 43 is 39.0 meters away at (-35.8, -15.4). A pedestrian with ID 38 is 39.6 meters away at (-37.2, 13.7).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-5.404777  -2.4741964] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0.584502  4.0378003] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 5.8560156e-05 -5.5362675e-03] m/s.

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 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.5, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 8.0 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 29 is 30.9 meters away at (-13.0, -28.0). A vehicle with ID 1 is 34.7 meters away at (28.8, -19.4). A vehicle with ID 43 is 36.4 meters away at (-35.0, -10.2).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-4.008861  -5.6041436] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-6.198244   3.1709013] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0.23023492 1.7074182 ] m/s.

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 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.1 meters away at (-1.5, -2.7). A vehicle with ID 19 is 4.3 meters away at (-0.9, 4.2). A vehicle with ID 18 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 20 is 8.0 meters away at (6.9, -4.0). A unknown object with ID 21 is 13.1 meters away at (-11.0, -7.2). A vehicle with ID 1 is 22.3 meters away at (17.6, -13.7). A unknown object with ID 15 is 25.4 meters away at (-21.3, -13.8). A vehicle with ID 34 is 28.9 meters away at (-28.9, 0.9). A vehicle with ID 43 is 35.8 meters away at (-34.8, -8.6). A pedestrian with ID 38 is 39.7 meters away at (-37.3, 13.5).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.655745   2.3110688] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.008729   -0.00355012] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.9) m/s. Its current heading (yaw) is 2.35 radians with an angular velocity of 2.35 rad/s.

The most relevant actors are: A vehicle with ID 20 is 18.6 meters away at (10.6, -15.3). A vehicle with ID 22 is 24.3 meters away at (-12.5, 20.9). A vehicle with ID 21 is 32.5 meters away at (20.3, -25.3). A vehicle with ID 19 is 34.8 meters away at (-22.3, 26.7). A unknown object with ID 14 is 49.6 meters away at (-47.8, -13.2). A unknown object with ID 18 is 51.1 meters away at (-49.1, -14.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 5.2) m/s. Its current heading (yaw) is 2.23 radians with an angular velocity of 2.23 rad/s.

The most relevant actors are: A vehicle with ID 22 is 11.4 meters away at (-3.6, 10.8). A vehicle with ID 19 is 21.3 meters away at (-13.4, 16.5). A pedestrian with ID 11 is 24.9 meters away at (-14.2, -20.5). A vehicle with ID 20 is 32.0 meters away at (19.6, -25.3). A unknown object with ID 17 is 43.6 meters away at (-37.6, -22.2). A unknown object with ID 14 is 45.3 meters away at (-38.8, -23.5). A vehicle with ID 21 is 46.0 meters away at (29.5, -35.4). A unknown object with ID 18 is 47.0 meters away at (-40.1, -24.5). A unknown object with ID 13 is 56.6 meters away at (35.4, -44.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.02936776 0.0108244 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 5.7) m/s. Its current heading (yaw) is 2.06 radians with an angular velocity of 2.06 rad/s.

The most relevant actors are: A vehicle with ID 22 is 3.7 meters away at (3.7, 0.1). A vehicle with ID 19 is 8.4 meters away at (-6.1, 5.7). A pedestrian with ID 11 is 32.1 meters away at (-6.8, -31.4). A unknown object with ID 17 is 44.8 meters away at (-30.2, -33.1). A vehicle with ID 20 is 45.1 meters away at (27.1, -36.0). A vehicle with ID 21 is 59.1 meters away at (37.0, -46.1).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02238189  0.00190782] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 6.0) m/s. Its current heading (yaw) is 2.06 radians with an angular velocity of 2.06 rad/s.

The most relevant actors are: A vehicle with ID 19 is 5.8 meters away at (-0.1, -5.8). A vehicle with ID 22 is 15.1 meters away at (9.7, -11.5). A pedestrian with ID 11 is 43.0 meters away at (-0.8, -43.0). A vehicle with ID 20 is 58.1 meters away at (33.0, -47.8). A unknown object with ID 1 is 65.8 meters away at (-23.6, 61.4). A vehicle with ID 2 is 67.6 meters away at (-22.5, 63.8). A vehicle with ID 21 is 72.1 meters away at (42.9, -57.9).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01803865 -0.00133185] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.0) m/s. Its current heading (yaw) is 2.62 radians with an angular velocity of 2.62 rad/s.

The most relevant actors are: A unknown object with ID 44 is 3.2 meters away at (-0.8, 3.1). A unknown object with ID 42 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 40 is 7.2 meters away at (7.1, -1.4). A unknown object with ID 48 is 7.4 meters away at (-4.9, 5.5). A unknown object with ID 49 is 8.0 meters away at (-7.8, -1.5). A vehicle with ID 8 is 11.6 meters away at (10.2, -5.5). A unknown object with ID 53 is 11.8 meters away at (-7.2, 9.4). A pedestrian with ID 58 is 14.5 meters away at (-14.4, -2.3). A unknown object with ID 38 is 15.9 meters away at (-15.6, 3.0). A unknown object with ID 47 is 16.0 meters away at (14.9, -5.9).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.0888042   0.61218673] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.2416898 -0.8075984] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 2.6) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A unknown object with ID 53 is 4.7 meters away at (0.5, 4.7). A vehicle with ID 68 is 5.3 meters away at (1.7, -5.1). A unknown object with ID 49 is 6.2 meters away at (-0.1, -6.2). A unknown object with ID 44 is 7.1 meters away at (7.0, -1.6). A unknown object with ID 38 is 8.1 meters away at (-7.9, -1.6). A pedestrian with ID 58 is 9.4 meters away at (-4.0, -8.5). A unknown object with ID 42 is 13.7 meters away at (8.2, -11.0). A vehicle with ID 8 is 15.4 meters away at (13.4, -7.7). A pedestrian with ID 54 is 16.9 meters away at (-16.7, -2.6). A unknown object with ID 60 is 17.3 meters away at (-17.3, 0.7).

The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 8.433154  -5.1868725] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.2494386  -0.66639614] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.3912857  1.8757302] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.2524315 -0.0775771] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.6) m/s. Its current heading (yaw) is 2.52 radians with an angular velocity of 2.52 rad/s.

The most relevant actors are: A unknown object with ID 38 is 6.9 meters away at (-0.2, -6.9). A unknown object with ID 53 is 8.3 meters away at (8.3, -0.6). A vehicle with ID 14 is 9.1 meters away at (5.2, -7.5). A pedestrian with ID 54 is 10.6 meters away at (-6.5, -8.3). A unknown object with ID 18 is 11.4 meters away at (10.6, -4.4). A vehicle with ID 8 is 15.6 meters away at (13.1, -8.4). A unknown object with ID 44 is 16.2 meters away at (14.7, -6.8). A pedestrian with ID 58 is 16.5 meters away at (6.4, -15.2). A unknown object with ID 42 is 23.0 meters away at (16.1, -16.4). A vehicle with ID 39 is 23.4 meters away at (-22.6, -6.0).

The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.329005 -5.007681] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.18111  -0.299588] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.616426  2.727375] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.9976928 -0.530985 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.