The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.4) m/s. Its current heading (yaw) is 2.11 radians with an angular velocity of 2.11 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.9 meters away at (1.6, 4.7). A vehicle with ID 6 is 6.6 meters away at (3.5, -5.5). A vehicle with ID 8 is 7.7 meters away at (-4.2, 6.4). A vehicle with ID 64 is 7.7 meters away at (6.1, -4.7). A vehicle with ID 53 is 10.1 meters away at (-2.2, 9.9). A vehicle with ID 17 is 14.2 meters away at (-8.2, 11.6). A vehicle with ID 66 is 16.0 meters away at (-5.7, 15.0). A unknown object with ID 23 is 16.9 meters away at (-15.5, -6.8). A vehicle with ID 61 is 17.1 meters away at (-12.1, 12.0). A pedestrian with ID 67 is 20.3 meters away at (-3.2, -20.1).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-1.1824913  1.5925367] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.99965924 -1.0295683 ] m/s.

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 2.11 radians with an angular velocity of 2.11 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.7 meters away at (1.8, 4.4). A vehicle with ID 6 is 6.3 meters away at (3.4, -5.3). A vehicle with ID 8 is 7.4 meters away at (-4.0, 6.2). A vehicle with ID 64 is 8.0 meters away at (6.3, -5.0). A vehicle with ID 53 is 9.8 meters away at (-2.0, 9.6). A vehicle with ID 17 is 13.9 meters away at (-8.0, 11.4). A vehicle with ID 66 is 15.6 meters away at (-5.4, 14.6). A vehicle with ID 61 is 18.5 meters away at (-13.0, 13.2). A vehicle with ID 19 is 21.0 meters away at (-9.0, 19.0). A pedestrian with ID 67 is 22.5 meters away at (-1.1, -22.5).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.24196613  0.34313747] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 1.0138764 -1.10938  ] m/s.

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 2.11 radians with an angular velocity of 2.11 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.7 meters away at (1.8, 4.3). A vehicle with ID 6 is 6.4 meters away at (3.4, -5.4). A vehicle with ID 8 is 7.4 meters away at (-4.0, 6.2). A vehicle with ID 64 is 8.1 meters away at (6.3, -5.1). A vehicle with ID 53 is 9.7 meters away at (-2.0, 9.5). A vehicle with ID 17 is 14.7 meters away at (-8.5, 12.0). A vehicle with ID 66 is 15.5 meters away at (-5.4, 14.5). A vehicle with ID 61 is 19.7 meters away at (-13.7, 14.2). A vehicle with ID 19 is 21.0 meters away at (-9.0, 18.9). A pedestrian with ID 67 is 24.7 meters away at (0.6, -24.6).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.6789553   0.94991755] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.74043775  0.9961474 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.895281  -1.1394832] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) m/s. Its current heading (yaw) is 2.11 radians with an angular velocity of 2.11 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.4 meters away at (2.0, 3.9). A vehicle with ID 6 is 6.9 meters away at (3.7, -5.8). A vehicle with ID 64 is 8.6 meters away at (6.6, -5.5). A vehicle with ID 8 is 8.9 meters away at (-4.9, 7.4). A vehicle with ID 53 is 9.3 meters away at (-1.7, 9.1). A vehicle with ID 66 is 15.0 meters away at (-5.1, 14.1). A unknown object with ID 29 is 18.1 meters away at (-14.7, -10.6). A vehicle with ID 17 is 18.8 meters away at (-10.8, 15.4). A vehicle with ID 19 is 20.5 meters away at (-8.8, 18.6). A vehicle with ID 61 is 23.8 meters away at (-16.2, 17.4).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.277542   1.7699662] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.9133037  2.7009933] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-2.0082428  2.6748836] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.5) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 7 is 7.4 meters away at (3.9, 6.3). A vehicle with ID 57 is 8.2 meters away at (8.0, 1.6). A vehicle with ID 68 is 11.5 meters away at (-7.8, -8.5). A vehicle with ID 61 is 13.0 meters away at (11.3, 6.6). A vehicle with ID 53 is 15.9 meters away at (8.0, 13.7). A vehicle with ID 14 is 16.2 meters away at (7.2, -14.6). A vehicle with ID 63 is 18.2 meters away at (14.2, 11.4). A vehicle with ID 65 is 18.3 meters away at (-18.3, 1.4). A pedestrian with ID 18 is 20.0 meters away at (-17.9, 9.0). A pedestrian with ID 75 is 20.2 meters away at (16.4, 11.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.712365  -1.1765568] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.629588   2.3186576] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.49425754 -0.8268648 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-0.33184108  0.30739155] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.02243536 -0.02489964] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.9025667 -1.43885  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -1.3) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 7 is 7.2 meters away at (3.8, 6.1). A vehicle with ID 68 is 9.9 meters away at (-9.6, -2.6). A vehicle with ID 57 is 10.7 meters away at (9.8, 4.4). A vehicle with ID 14 is 14.7 meters away at (8.9, -11.7). A vehicle with ID 61 is 16.1 meters away at (13.0, 9.4). A vehicle with ID 53 is 16.2 meters away at (8.2, 14.0). A vehicle with ID 65 is 17.3 meters away at (-16.8, 4.4). A vehicle with ID 13 is 19.9 meters away at (12.9, -15.2). A pedestrian with ID 62 is 20.0 meters away at (-16.6, 11.2). A pedestrian with ID 75 is 20.2 meters away at (16.3, 11.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.000582  -1.7720482] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-1.0794162   0.96093035] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.9409688 -1.6460763] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.00337036 -0.0692993 ] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.81681585 -1.4033535 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -2.6) m/s. Its current heading (yaw) is -1.84 radians with an angular velocity of -1.84 rad/s.

The most relevant actors are: A vehicle with ID 7 is 7.3 meters away at (3.5, 6.4). A vehicle with ID 68 is 9.1 meters away at (-8.8, 2.2). A vehicle with ID 14 is 13.2 meters away at (10.6, -8.0). A vehicle with ID 57 is 14.2 meters away at (11.6, 8.2). A vehicle with ID 53 is 16.0 meters away at (7.8, 13.9). A vehicle with ID 65 is 17.2 meters away at (-15.0, 8.4). A vehicle with ID 13 is 18.5 meters away at (14.5, -11.4). A pedestrian with ID 82 is 19.6 meters away at (-18.6, -6.4). A vehicle with ID 61 is 19.9 meters away at (14.9, 13.2). A pedestrian with ID 75 is 20.7 meters away at (16.4, 12.6).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.0697694 -1.7398694] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.2280543 -2.1462662] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [ 0.03275742 -0.03000664] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.81805784 -1.360278  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -4.1) m/s. Its current heading (yaw) is -1.21 radians with an angular velocity of -1.21 rad/s.

The most relevant actors are: A vehicle with ID 7 is 9.4 meters away at (0.7, 9.4). A vehicle with ID 14 is 10.4 meters away at (10.3, -1.1). A vehicle with ID 68 is 12.9 meters away at (-9.1, 9.1). A vehicle with ID 13 is 15.0 meters away at (14.3, -4.6). A vehicle with ID 58 is 15.0 meters away at (3.9, -14.5). A vehicle with ID 53 is 17.4 meters away at (5.1, 16.7). A vehicle with ID 57 is 18.8 meters away at (11.4, 15.0). A pedestrian with ID 82 is 18.8 meters away at (-18.8, 0.6). A vehicle with ID 87 is 20.0 meters away at (-0.6, -20.0). A vehicle with ID 65 is 21.6 meters away at (-15.2, 15.3).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.4873685 -2.4505858] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-1.3576554 -2.2606025] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.00679283 0.03282404] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.5) m/s. Its current heading (yaw) is 2.70 radians with an angular velocity of 2.70 rad/s.

The most relevant actors are: A unknown object with ID 82 is 2.9 meters away at (0.0, -2.9). A unknown object with ID 86 is 3.0 meters away at (-2.3, -2.0). A unknown object with ID 77 is 3.9 meters away at (1.4, -3.6). A unknown object with ID 89 is 4.6 meters away at (-4.5, -1.0). A unknown object with ID 76 is 5.1 meters away at (2.9, -4.2). A unknown object with ID 80 is 5.8 meters away at (0.5, -5.7). A unknown object with ID 92 is 7.2 meters away at (-7.2, 0.2). A unknown object with ID 94 is 10.7 meters away at (-10.6, 1.5). A vehicle with ID 88 is 10.9 meters away at (5.1, 9.7). A vehicle with ID 81 is 13.4 meters away at (11.7, 6.6).

The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 4.2) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A unknown object with ID 99 is 4.1 meters away at (-2.5, -3.2). A unknown object with ID 97 is 4.7 meters away at (1.1, -4.6). A unknown object with ID 94 is 7.8 meters away at (4.8, -6.1). A unknown object with ID 92 is 11.0 meters away at (8.1, -7.4). A vehicle with ID 101 is 13.3 meters away at (5.5, 12.1). A unknown object with ID 89 is 13.9 meters away at (10.9, -8.6). A vehicle with ID 104 is 15.5 meters away at (-1.4, 15.5). A unknown object with ID 86 is 16.3 meters away at (13.1, -9.6). A unknown object with ID 82 is 18.7 meters away at (15.4, -10.5). A vehicle with ID 106 is 19.8 meters away at (-8.5, 17.9).

The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 3.8) m/s. Its current heading (yaw) is 2.70 radians with an angular velocity of 2.70 rad/s.

The most relevant actors are: A unknown object with ID 53 is 10.7 meters away at (-10.7, -0.6). A vehicle with ID 106 is 11.9 meters away at (7.0, 9.6). A vehicle with ID 71 is 12.5 meters away at (1.5, 12.4). A unknown object with ID 54 is 15.8 meters away at (-15.8, 0.3). A vehicle with ID 104 is 16.3 meters away at (14.6, 7.4). A unknown object with ID 99 is 17.5 meters away at (13.4, -11.3). A unknown object with ID 97 is 21.3 meters away at (17.1, -12.7). A pedestrian with ID 27 is 24.6 meters away at (-24.4, 3.3). A unknown object with ID 94 is 25.3 meters away at (20.9, -14.2). A unknown object with ID 92 is 28.7 meters away at (24.2, -15.5).

The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.1334503  0.1543285] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.5) m/s. Its current heading (yaw) is 2.72 radians with an angular velocity of 2.72 rad/s.

The most relevant actors are: A unknown object with ID 54 is 6.8 meters away at (-0.5, -6.8). A unknown object with ID 53 is 8.9 meters away at (4.6, -7.7). A pedestrian with ID 27 is 9.8 meters away at (-8.9, -3.9). A vehicle with ID 43 is 11.9 meters away at (6.9, 9.7). A vehicle with ID 48 is 12.5 meters away at (0.4, 12.5). A vehicle with ID 71 is 17.6 meters away at (16.8, 5.3). A pedestrian with ID 29 is 22.3 meters away at (0.3, 22.3). A vehicle with ID 106 is 22.5 meters away at (22.4, 2.5). A unknown object with ID 99 is 34.0 meters away at (28.6, -18.4). A unknown object with ID 97 is 38.0 meters away at (32.3, -19.8).

The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.01291958 -0.02594021] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.2572976 -0.5753515] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.5) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 42 is 8.2 meters away at (-8.2, -0.5). A vehicle with ID 45 is 8.7 meters away at (-4.1, 7.6). A vehicle with ID 55 is 13.3 meters away at (13.3, -0.8). A vehicle with ID 51 is 14.0 meters away at (-13.9, 1.6). A vehicle with ID 5 is 16.1 meters away at (5.3, -15.2). A vehicle with ID 50 is 20.4 meters away at (-20.1, 3.5). A pedestrian with ID 12 is 20.5 meters away at (16.1, -12.7). A unknown object with ID 58 is 21.6 meters away at (14.4, -16.1). A pedestrian with ID 60 is 24.2 meters away at (21.4, 11.4). A vehicle with ID 62 is 24.4 meters away at (-20.9, 12.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.5012144 -5.3823953] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00907317  0.01273461] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.34826362 1.2790507 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.1) m/s. Its current heading (yaw) is -0.25 radians with an angular velocity of -0.25 rad/s.

The most relevant actors are: A vehicle with ID 42 is 9.4 meters away at (-9.4, 0.0). A vehicle with ID 45 is 9.7 meters away at (-5.4, 8.1). A vehicle with ID 51 is 15.3 meters away at (-15.2, 2.1). A vehicle with ID 5 is 15.4 meters away at (4.1, -14.8). A vehicle with ID 55 is 15.7 meters away at (8.2, -13.4). A pedestrian with ID 12 is 19.5 meters away at (15.0, -12.5). A unknown object with ID 58 is 20.5 meters away at (13.2, -15.7). A unknown object with ID 16 is 20.9 meters away at (14.7, -14.8). A vehicle with ID 50 is 21.6 meters away at (-21.2, 3.9). A unknown object with ID 35 is 23.5 meters away at (17.2, -16.0).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.4164464 -7.4353743] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.09056556  0.05553192] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.2) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 45 is 12.7 meters away at (-8.7, 9.2). A vehicle with ID 42 is 12.9 meters away at (-12.8, 1.2). A vehicle with ID 5 is 13.7 meters away at (0.7, -13.7). A pedestrian with ID 12 is 16.1 meters away at (11.6, -11.1). A vehicle with ID 51 is 18.9 meters away at (-18.6, 3.2). A vehicle with ID 6 is 19.1 meters away at (-1.1, -19.1). A vehicle with ID 11 is 24.4 meters away at (11.8, 21.3). A vehicle with ID 50 is 25.1 meters away at (-24.6, 5.1). A pedestrian with ID 60 is 26.1 meters away at (18.3, 18.6). A vehicle with ID 55 is 28.1 meters away at (-0.2, -28.1).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.10807061  0.03255026] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.36173764 1.2556013 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.6731684 -8.403429 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -2.5) m/s. Its current heading (yaw) is -0.54 radians with an angular velocity of -0.54 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 8.5 meters away at (3.9, -7.6). A vehicle with ID 5 is 12.3 meters away at (-6.8, -10.3). A vehicle with ID 6 is 17.8 meters away at (-8.5, -15.7). A vehicle with ID 45 is 20.7 meters away at (-16.5, 12.6). A vehicle with ID 42 is 21.0 meters away at (-20.5, 4.5). A unknown object with ID 46 is 21.9 meters away at (21.1, -5.6). A vehicle with ID 44 is 23.3 meters away at (11.3, -20.4). A vehicle with ID 3 is 23.8 meters away at (-22.3, 8.4). A vehicle with ID 11 is 25.1 meters away at (4.1, 24.8). A unknown object with ID 2 is 25.6 meters away at (24.2, -8.3).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.00014113 -0.01942896] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.2293015 -2.3054695] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 0.39 radians with an angular velocity of 0.39 rad/s.

The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.1 meters away at (7.1, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).

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

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 0.39 radians with an angular velocity of 0.39 rad/s.

The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.0 meters away at (7.0, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).

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

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 0.39 radians with an angular velocity of 0.39 rad/s.

The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.1 meters away at (7.1, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).

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

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 0.39 radians with an angular velocity of 0.39 rad/s.

The most relevant actors are: A unknown object with ID 1 is 4.9 meters away at (4.9, -0.2). A unknown object with ID 2 is 7.1 meters away at (7.1, 0.1). A unknown object with ID 3 is 7.1 meters away at (7.1, -0.5). A unknown object with ID 4 is 51.7 meters away at (-49.4, -15.1).

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

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 21 is 5.7 meters away at (-5.6, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 24 is 11.6 meters away at (0.6, -11.6). A vehicle with ID 23 is 12.9 meters away at (8.5, 9.7). A vehicle with ID 33 is 19.6 meters away at (-2.6, -19.4). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 27 is 30.1 meters away at (22.0, 20.5). A vehicle with ID 25 is 34.8 meters away at (-34.1, 7.0). A vehicle with ID 38 is 46.9 meters away at (26.4, -38.7). A vehicle with ID 8 is 47.6 meters away at (-44.8, 16.1).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.14957644  5.8649845 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.1419826 -1.3906932] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-9.515931   8.0398855] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.130172  2.4708831] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.8455017  3.1843865] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-7.2657566  6.1175985] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.51925045  0.47016725] m/s.

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 24 is 5.7 meters away at (5.7, 0.3). A vehicle with ID 21 is 5.7 meters away at (-5.6, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 19 is 8.5 meters away at (5.7, 6.4). A vehicle with ID 3 is 19.4 meters away at (12.2, 15.0). A vehicle with ID 33 is 19.8 meters away at (-19.1, -5.3). A vehicle with ID 10 is 26.3 meters away at (-14.4, -22.0). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 38 is 30.0 meters away at (12.3, -27.4). A vehicle with ID 27 is 39.0 meters away at (27.8, 27.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [4.426838  6.1032877] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-6.892186   5.9280653] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 17.402601 -14.642385] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.04533    4.7667913] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [3.6768742 4.314224 ] m/s.

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 21 is 5.7 meters away at (-5.5, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 19 is 8.5 meters away at (5.7, 6.3). A vehicle with ID 3 is 19.2 meters away at (12.1, 14.9). A vehicle with ID 38 is 19.3 meters away at (2.3, -19.2). A vehicle with ID 24 is 21.1 meters away at (16.2, 13.5). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 33 is 29.3 meters away at (-29.1, 3.2). A vehicle with ID 22 is 37.2 meters away at (18.2, -32.5). A vehicle with ID 13 is 54.3 meters away at (-53.2, 10.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.4566483  3.79947  ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [5.7155113 6.729405 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.3680165  2.8208468] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.2219954  5.248126 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 12.142897 -10.076576] m/s.

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 21 is 5.7 meters away at (-5.5, -1.3). A unknown object with ID 20 is 5.7 meters away at (-5.3, 2.1). A vehicle with ID 19 is 8.5 meters away at (5.6, 6.3). A vehicle with ID 38 is 10.9 meters away at (-0.6, -10.9). A vehicle with ID 3 is 19.1 meters away at (12.0, 14.8). A vehicle with ID 22 is 24.6 meters away at (7.4, -23.5). A vehicle with ID 37 is 27.6 meters away at (-27.5, -2.3). A vehicle with ID 11 is 29.5 meters away at (-27.3, -11.2). A vehicle with ID 33 is 35.3 meters away at (-34.4, 7.7). A vehicle with ID 24 is 38.5 meters away at (27.6, 26.9).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0.7477547 4.71465  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.6905184  4.0833907] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 13.281615 -11.09443 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.2930002  1.9705313] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [6.163202  7.2240505] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 2.1) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 70 is 10.1 meters away at (-3.1, -9.6). A vehicle with ID 69 is 10.4 meters away at (-10.1, -2.2). A vehicle with ID 73 is 15.7 meters away at (-14.0, -7.0). A vehicle with ID 76 is 15.7 meters away at (-7.1, -14.0). A vehicle with ID 86 is 21.6 meters away at (-11.0, -18.6). A vehicle with ID 87 is 22.5 meters away at (-18.6, -12.8). A vehicle with ID 65 is 24.7 meters away at (24.6, 2.0). A pedestrian with ID 78 is 25.3 meters away at (3.4, 25.0). A vehicle with ID 75 is 25.3 meters away at (-9.5, 23.5). A vehicle with ID 74 is 28.5 meters away at (-15.3, -24.0).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.522027   -0.41214928] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


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

The most relevant actors are: A vehicle with ID 69 is 16.6 meters away at (-14.7, -7.7). A vehicle with ID 70 is 16.9 meters away at (-7.7, -15.0). A pedestrian with ID 78 is 19.9 meters away at (-4.1, 19.5). A vehicle with ID 65 is 20.3 meters away at (20.0, -3.4). A vehicle with ID 73 is 22.4 meters away at (-18.6, -12.6). A vehicle with ID 76 is 22.8 meters away at (-11.7, -19.5). A vehicle with ID 75 is 22.8 meters away at (-14.0, 18.0). A unknown object with ID 36 is 26.1 meters away at (9.7, 24.2). A vehicle with ID 71 is 26.9 meters away at (26.3, -5.5). A unknown object with ID 53 is 27.0 meters away at (19.8, 18.3).

The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.4651707   0.15583342] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 65 is 17.7 meters away at (14.1, -10.6). A pedestrian with ID 78 is 18.3 meters away at (-13.0, 12.9). A vehicle with ID 75 is 22.6 meters away at (-19.9, 10.8). A vehicle with ID 59 is 23.7 meters away at (9.7, 21.6). A vehicle with ID 71 is 24.0 meters away at (20.4, -12.6). A vehicle with ID 69 is 25.5 meters away at (-20.6, -15.0). A vehicle with ID 70 is 26.0 meters away at (-13.5, -22.2). A vehicle with ID 80 is 28.3 meters away at (-25.4, 12.6). A unknown object with ID 41 is 28.6 meters away at (20.1, 20.3). A vehicle with ID 85 is 29.6 meters away at (25.7, -14.7).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.5374556  0.3789804] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.7) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 59 is 14.3 meters away at (3.3, 13.9). A pedestrian with ID 45 is 14.3 meters away at (13.6, -4.7). A unknown object with ID 41 is 18.6 meters away at (13.7, 12.6). A vehicle with ID 65 is 19.9 meters away at (7.8, -18.3). A vehicle with ID 60 is 21.0 meters away at (7.8, 19.5). A pedestrian with ID 78 is 23.1 meters away at (-22.3, 6.0). A vehicle with ID 71 is 24.6 meters away at (14.0, -20.3). A vehicle with ID 75 is 26.5 meters away at (-26.3, 3.2). A unknown object with ID 58 is 26.9 meters away at (19.0, 19.0). A vehicle with ID 72 is 27.2 meters away at (23.6, -13.7).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.4280008   0.49313405] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -12.9) m/s. Its current heading (yaw) is -1.27 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 (3.7, -12.2) 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 (4.1, -13.0) 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 (3.9, -12.1) 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 unknown object with ID 3 is 38.9 meters away at (-17.9, 34.5). A unknown object with ID 5 is 42.0 meters away at (-18.8, 37.6). A unknown object with ID 2 is 45.1 meters away at (-19.7, 40.6).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -3.9) m/s. Its current heading (yaw) is -1.11 radians with an angular velocity of -1.11 rad/s.

The most relevant actors are: A vehicle with ID 15 is 12.8 meters away at (4.6, -11.9).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.9766371  3.5964978] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -3.3) m/s. Its current heading (yaw) is -0.96 radians with an angular velocity of -0.96 rad/s.

The most relevant actors are: A vehicle with ID 15 is 4.1 meters away at (-4.0, 1.0).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.5623794  2.399316 ] 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, -4.1) m/s. Its current heading (yaw) is -0.85 radians with an angular velocity of -0.85 rad/s.

The most relevant actors are: A vehicle with ID 15 is 16.2 meters away at (-11.6, 11.2).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.3735619   0.60413337] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -4.9) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A vehicle with ID 15 is 28.7 meters away at (-20.2, 20.4). A unknown object with ID 7 is 29.2 meters away at (11.3, -26.9). A unknown object with ID 2 is 38.8 meters away at (19.1, -33.8). A unknown object with ID 12 is 44.2 meters away at (-7.9, 43.5). A pedestrian with ID 1 is 73.8 meters away at (45.1, -58.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.9109755  -0.11750527] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.9) m/s. Its current heading (yaw) is 2.27 radians with an angular velocity of 2.27 rad/s.

The most relevant actors are: A unknown object with ID 13 is 12.3 meters away at (9.6, -7.8). A unknown object with ID 14 is 14.2 meters away at (11.0, -9.0). A unknown object with ID 6 is 39.7 meters away at (-23.6, 32.0). A unknown object with ID 15 is 41.2 meters away at (-4.7, -40.9). A unknown object with ID 2 is 43.5 meters away at (-25.7, 35.1). A unknown object with ID 16 is 43.7 meters away at (-8.1, -42.9). A vehicle with ID 27 is 46.5 meters away at (-29.5, 35.9). A vehicle with ID 29 is 59.7 meters away at (11.5, -58.6). A vehicle with ID 19 is 61.2 meters away at (47.5, -38.5). A pedestrian with ID 20 is 65.0 meters away at (51.9, -39.1).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00024778 -0.04064854] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.8) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 1 is 17.3 meters away at (-17.3, 0.4). A unknown object with ID 13 is 20.2 meters away at (15.1, -13.4). A unknown object with ID 6 is 32.0 meters away at (-17.8, 26.5). A unknown object with ID 2 is 35.8 meters away at (-19.7, 29.9). A vehicle with ID 27 is 38.6 meters away at (-23.8, 30.4). A unknown object with ID 15 is 46.4 meters away at (0.8, -46.4). A unknown object with ID 16 is 48.5 meters away at (-2.6, -48.5). A vehicle with ID 30 is 66.2 meters away at (-64.9, -13.1). A vehicle with ID 29 is 66.4 meters away at (17.1, -64.2). A vehicle with ID 5 is 67.5 meters away at (-53.6, 41.0).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A unknown object with ID 13 is 22.9 meters away at (17.2, -15.0). A unknown object with ID 6 is 29.5 meters away at (-15.8, 24.9). A vehicle with ID 27 is 36.0 meters away at (-21.8, 28.7). A unknown object with ID 15 is 48.0 meters away at (2.8, -47.9). A pedestrian with ID 11 is 49.7 meters away at (-34.9, 35.4). A unknown object with ID 16 is 50.1 meters away at (-0.6, -50.1). A vehicle with ID 30 is 64.6 meters away at (-63.0, -14.5). A vehicle with ID 5 is 64.9 meters away at (-51.6, 39.4). A vehicle with ID 29 is 68.7 meters away at (19.2, -65.9). A vehicle with ID 10 is 70.2 meters away at (-56.4, 41.9).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A unknown object with ID 13 is 23.0 meters away at (17.3, -15.2). A vehicle with ID 27 is 35.8 meters away at (-21.6, 28.6). A pedestrian with ID 11 is 49.6 meters away at (-34.9, 35.3). A vehicle with ID 30 is 64.5 meters away at (-62.8, -14.6). A vehicle with ID 29 is 68.7 meters away at (19.3, -66.0). A pedestrian with ID 12 is 76.3 meters away at (28.3, -70.9).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.0006738  -0.01280447] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.85265535  0.9467216 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 10.7) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 3 is 15.1 meters away at (10.7, -10.6). A vehicle with ID 11 is 41.4 meters away at (22.3, -34.8). A vehicle with ID 5 is 47.6 meters away at (30.7, -36.4). A vehicle with ID 10 is 73.4 meters away at (-47.8, 55.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.923874 12.754868] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 4.8089104 -6.944118 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.373232  9.360623] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [  7.859612 -10.189787] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 11.3) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 3 is 10.5 meters away at (8.5, -6.2). A vehicle with ID 10 is 20.0 meters away at (-14.8, 13.4). A vehicle with ID 5 is 51.7 meters away at (33.8, -39.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-10.5297    13.574684] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [  7.7403383 -10.132276 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.837205 10.232908] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 11.8) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A vehicle with ID 3 is 5.1 meters away at (4.9, -1.4). A vehicle with ID 10 is 35.1 meters away at (19.1, -29.4). A vehicle with ID 5 is 53.9 meters away at (35.4, -40.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-11.317183  14.326751] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.4577246 -9.480915 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.826245 11.199901] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 11.9) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 3 is 5.0 meters away at (0.1, 5.0). A unknown object with ID 4 is 51.7 meters away at (-40.1, 32.7). A vehicle with ID 5 is 54.2 meters away at (35.6, -40.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-12.272835  15.386202] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.571259 12.089332] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.2, 0.1) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 78 is 8.0 meters away at (1.5, -7.9). A pedestrian with ID 82 is 10.7 meters away at (6.8, 8.3). A vehicle with ID 83 is 14.6 meters away at (13.6, -5.4). A pedestrian with ID 76 is 17.5 meters away at (-12.5, 12.2). A pedestrian with ID 77 is 17.8 meters away at (-12.2, 12.9). A vehicle with ID 81 is 22.4 meters away at (-22.0, 3.9). A unknown object with ID 89 is 30.5 meters away at (25.6, 16.5). A unknown object with ID 91 is 33.5 meters away at (29.4, 15.9). A pedestrian with ID 79 is 33.9 meters away at (-32.8, 8.8). A vehicle with ID 93 is 35.1 meters away at (27.0, -22.4).

The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.4262106   0.11978523] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-1.0713181  0.8566781] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0743151  0.8674387] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-15.599263     0.15492228] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [ 1.3043425 -0.4279614] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A pedestrian with ID 82 is 17.4 meters away at (-15.3, 8.3). A unknown object with ID 89 is 17.7 meters away at (6.5, 16.5). A unknown object with ID 91 is 18.9 meters away at (10.4, 15.8). A vehicle with ID 78 is 19.2 meters away at (-17.5, -7.9). A vehicle with ID 72 is 22.8 meters away at (20.7, -9.6). A vehicle with ID 93 is 23.7 meters away at (7.9, -22.4). A pedestrian with ID 30 is 24.7 meters away at (9.7, -22.7). A vehicle with ID 97 is 24.8 meters away at (10.9, -22.3). A unknown object with ID 35 is 27.4 meters away at (14.7, 23.1). A vehicle with ID 73 is 27.5 meters away at (25.8, -9.5).

The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.4847237   0.05748365] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.05324761 0.25992584] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.1, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 72 is 9.7 meters away at (0.7, -9.6). A vehicle with ID 73 is 11.1 meters away at (5.7, -9.5). A pedestrian with ID 32 is 14.4 meters away at (11.9, 8.0). A unknown object with ID 66 is 14.6 meters away at (10.5, 10.1). A vehicle with ID 65 is 14.8 meters away at (10.7, -10.3). A unknown object with ID 91 is 18.7 meters away at (-9.8, 15.9). A unknown object with ID 89 is 21.3 meters away at (-13.5, 16.5). A vehicle with ID 75 is 22.7 meters away at (-0.7, -22.7). A pedestrian with ID 30 is 23.2 meters away at (-10.4, -20.7). A vehicle with ID 74 is 23.9 meters away at (7.8, -22.6).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.8070744  -0.05293944] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.1305793 1.2058829] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (7.7, -9.9). A vehicle with ID 65 is 13.9 meters away at (-9.6, -10.1). A unknown object with ID 66 is 14.0 meters away at (-9.7, 10.2). A pedestrian with ID 32 is 14.6 meters away at (-12.1, 8.2). A vehicle with ID 73 is 17.3 meters away at (-14.5, -9.4). A unknown object with ID 56 is 18.1 meters away at (-15.7, 9.0). A unknown object with ID 63 is 20.1 meters away at (10.5, 17.1). A vehicle with ID 72 is 21.7 meters away at (-19.6, -9.4). A unknown object with ID 43 is 23.0 meters away at (3.4, -22.7). A unknown object with ID 59 is 23.0 meters away at (17.8, 14.6).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.7918651   0.26922274] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 5.8) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A cyclist with ID 8 is 19.3 meters away at (-10.3, 16.2). A pedestrian with ID 20 is 51.8 meters away at (8.5, 51.1). A vehicle with ID 22 is 52.9 meters away at (39.3, -35.4). A vehicle with ID 12 is 53.8 meters away at (13.7, 52.1). A vehicle with ID 23 is 55.5 meters away at (-46.5, 30.4). A vehicle with ID 17 is 67.3 meters away at (18.5, 64.7).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-0.03819716 -0.04456342] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.0044919  -0.01542639] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-11.083177    7.4808493] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 6.3) m/s. Its current heading (yaw) is 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A cyclist with ID 8 is 7.3 meters away at (6.6, 3.1). A pedestrian with ID 20 is 47.1 meters away at (26.5, 39.0). A vehicle with ID 12 is 50.9 meters away at (31.5, 39.9). A vehicle with ID 23 is 60.4 meters away at (-50.7, 32.9). A vehicle with ID 17 is 64.1 meters away at (36.4, 52.7). A vehicle with ID 22 is 74.2 meters away at (57.0, -47.5).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-1.2275257  -0.89779526] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.2665364  0.07032203] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-11.493872    6.8282175] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 6.4) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A cyclist with ID 8 is 22.7 meters away at (20.2, -10.3). A vehicle with ID 23 is 64.0 meters away at (-55.8, 31.3).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-3.1664038 -0.0185108] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-12.341545    4.1999545] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 6.1) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A cyclist with ID 8 is 37.7 meters away at (31.4, -21.0). A vehicle with ID 23 is 66.4 meters away at (-62.1, 23.5).

The cyclist with ID 8 is traveling at a (x, y) velocity of [-4.2091193  1.5853981] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-12.807739     0.62865293] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -4.9) m/s. Its current heading (yaw) is -1.72 radians with an angular velocity of -1.72 rad/s.

The most relevant actors are: A pedestrian with ID 47 is 5.2 meters away at (-5.1, 1.2). A vehicle with ID 12 is 6.0 meters away at (-4.0, -4.5). A pedestrian with ID 10 is 9.6 meters away at (8.7, -4.2). A vehicle with ID 13 is 15.2 meters away at (-6.9, -13.6). A vehicle with ID 49 is 21.5 meters away at (13.4, 16.8). A vehicle with ID 48 is 24.5 meters away at (24.3, -3.0). A vehicle with ID 32 is 29.4 meters away at (29.1, -4.1). A vehicle with ID 25 is 32.0 meters away at (31.6, -5.0). A vehicle with ID 19 is 34.6 meters away at (34.1, -5.9). A vehicle with ID 45 is 55.2 meters away at (-20.2, -51.3).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.30746493 0.8869902 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.5360008 -1.3336773] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -4.5) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 12 is 5.1 meters away at (-1.7, 4.7). A vehicle with ID 13 is 6.2 meters away at (-4.6, -4.2). A pedestrian with ID 10 is 10.5 meters away at (10.2, 2.5). A pedestrian with ID 47 is 12.7 meters away at (-2.1, 12.5). A vehicle with ID 48 is 27.4 meters away at (26.7, 6.5). A vehicle with ID 49 is 30.5 meters away at (15.7, 26.1). A vehicle with ID 32 is 31.9 meters away at (31.4, 5.4). A unknown object with ID 43 is 34.2 meters away at (3.9, 34.0). A vehicle with ID 25 is 34.2 meters away at (34.0, 4.4). A vehicle with ID 19 is 36.7 meters away at (36.5, 3.6).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.5133737 -1.3357553] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.27067393 1.1338778 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.2) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 13 is 4.0 meters away at (-1.9, 3.5). A vehicle with ID 12 is 12.6 meters away at (0.9, 12.6). A pedestrian with ID 10 is 14.5 meters away at (12.2, 7.7). A pedestrian with ID 47 is 22.5 meters away at (1.4, 22.5). A vehicle with ID 3 is 27.7 meters away at (-20.9, -18.1). A vehicle with ID 5 is 32.3 meters away at (-28.1, -15.9). A vehicle with ID 45 is 37.3 meters away at (-15.1, -34.1). A vehicle with ID 49 is 38.7 meters away at (18.4, 34.1). A vehicle with ID 1 is 43.7 meters away at (-17.0, -40.2). A vehicle with ID 2 is 50.2 meters away at (-19.1, -46.4).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.46656305 -1.3508584 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.46913514 1.0498167 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.7) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 13 is 8.3 meters away at (-0.3, 8.3). A pedestrian with ID 10 is 16.5 meters away at (13.1, 10.0). A vehicle with ID 12 is 17.5 meters away at (2.6, 17.3). A vehicle with ID 3 is 23.4 meters away at (-19.3, -13.3). A vehicle with ID 8 is 24.7 meters away at (-24.6, 2.1). A vehicle with ID 4 is 25.7 meters away at (-22.4, -12.7). A vehicle with ID 5 is 28.7 meters away at (-26.5, -11.1). A pedestrian with ID 47 is 29.6 meters away at (3.8, 29.3). A vehicle with ID 18 is 30.2 meters away at (28.9, 8.5). A vehicle with ID 45 is 32.3 meters away at (-13.5, -29.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.40477374 -1.1700753 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.43129116 1.1610813 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 0.2) m/s. Its current heading (yaw) is 0.06 radians with an angular velocity of 0.06 rad/s.

The most relevant actors are: A unknown object with ID 4 is 10.0 meters away at (7.5, 6.6).

The unknown object with ID 4 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 (2.6, -1.4) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 7 is 68.8 meters away at (-61.8, 30.2).

The vehicle 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 (0.3, -3.3) m/s. Its current heading (yaw) is -1.49 radians with an angular velocity of -1.49 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 (-1.1, -4.5) m/s. Its current heading (yaw) is -1.82 radians with an angular velocity of -1.82 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 (-7.6, 4.6) m/s. Its current heading (yaw) is 2.60 radians with an angular velocity of 2.60 rad/s.

The most relevant actors are: A unknown object with ID 23 is 34.4 meters away at (31.2, -14.6). A vehicle with ID 27 is 47.0 meters away at (-8.2, -46.2). A vehicle with ID 28 is 48.7 meters away at (-3.9, -48.6). A vehicle with ID 29 is 49.6 meters away at (-9.3, -48.7). A vehicle with ID 26 is 51.2 meters away at (4.1, -51.0). A unknown object with ID 12 is 56.9 meters away at (56.3, -7.8). A vehicle with ID 21 is 60.5 meters away at (-60.1, -7.0). A vehicle with ID 32 is 70.7 meters away at (35.8, -61.0).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.965797  4.324608] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.2) m/s. Its current heading (yaw) is 2.62 radians with an angular velocity of 2.62 rad/s.

The most relevant actors are: A unknown object with ID 4 is 14.9 meters away at (3.5, -14.5). A vehicle with ID 6 is 44.1 meters away at (41.2, -15.8). A vehicle with ID 21 is 47.9 meters away at (-45.1, -15.9). A vehicle with ID 27 is 55.5 meters away at (6.8, -55.1). A unknown object with ID 7 is 57.0 meters away at (10.8, -56.0). A vehicle with ID 29 is 57.8 meters away at (5.6, -57.6). A vehicle with ID 13 is 57.9 meters away at (5.6, -57.6). A vehicle with ID 26 is 62.9 meters away at (19.1, -59.9). A vehicle with ID 11 is 71.4 meters away at (3.2, -71.3). A vehicle with ID 32 is 73.7 meters away at (39.8, -62.1).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-5.5060277  3.7890813] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 3.7) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A vehicle with ID 21 is 39.2 meters away at (-31.1, -23.9). A vehicle with ID 27 is 66.4 meters away at (20.9, -63.0). A vehicle with ID 29 is 68.4 meters away at (19.7, -65.5). A vehicle with ID 13 is 68.4 meters away at (19.7, -65.5). A unknown object with ID 7 is 68.7 meters away at (25.0, -63.9). A unknown object with ID 19 is 70.9 meters away at (62.3, -33.9). A vehicle with ID 26 is 75.5 meters away at (33.1, -67.9). A vehicle with ID 32 is 77.0 meters away at (43.7, -63.4). A vehicle with ID 11 is 81.0 meters away at (17.2, -79.2).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.569986   2.9055634] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 3.3) m/s. Its current heading (yaw) is 2.66 radians with an angular velocity of 2.66 rad/s.

The most relevant actors are: A vehicle with ID 21 is 35.8 meters away at (-17.9, -31.0). A vehicle with ID 27 is 78.0 meters away at (34.2, -70.1). A vehicle with ID 29 is 79.6 meters away at (32.7, -72.5). A unknown object with ID 7 is 80.7 meters away at (38.2, -71.1). A vehicle with ID 32 is 81.1 meters away at (48.6, -64.9).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.122898   2.6832163] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.6) m/s. Its current heading (yaw) is 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A vehicle with ID 14 is 30.2 meters away at (-6.3, -29.5). A pedestrian with ID 15 is 30.3 meters away at (-17.5, -24.7). A vehicle with ID 16 is 35.4 meters away at (-8.1, -34.5). A vehicle with ID 17 is 39.2 meters away at (-23.7, -31.3). A vehicle with ID 20 is 40.2 meters away at (-26.2, -30.4). A vehicle with ID 18 is 40.6 meters away at (-9.7, -39.4). A vehicle with ID 19 is 41.5 meters away at (-18.7, -37.1). A vehicle with ID 21 is 41.9 meters away at (-29.2, -30.0). A vehicle with ID 23 is 43.2 meters away at (-32.0, -29.0). A vehicle with ID 22 is 46.0 meters away at (-11.2, -44.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.4467786 1.1020164] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 5.1) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A pedestrian with ID 15 is 42.3 meters away at (-22.8, -35.6). A vehicle with ID 14 is 44.5 meters away at (-12.6, -42.7). A vehicle with ID 17 is 53.6 meters away at (-30.0, -44.5). A vehicle with ID 20 is 54.4 meters away at (-32.5, -43.7). A vehicle with ID 19 is 56.1 meters away at (-24.9, -50.3). A pedestrian with ID 30 is 63.2 meters away at (-15.6, -61.3). A vehicle with ID 27 is 65.6 meters away at (-27.8, -59.5). A vehicle with ID 32 is 71.1 meters away at (-29.7, -64.5). A vehicle with ID 35 is 76.6 meters away at (-31.7, -69.7).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.66275066 1.0968835 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.54247653 1.3724858 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 1.2) m/s. Its current heading (yaw) is 0.28 radians with an angular velocity of 0.28 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 50.1 meters away at (45.1, -21.8). A pedestrian with ID 15 is 50.4 meters away at (-30.9, -39.8). A pedestrian with ID 5 is 50.8 meters away at (45.6, -22.4). A vehicle with ID 14 is 53.4 meters away at (-21.0, -49.1). A pedestrian with ID 3 is 62.0 meters away at (60.0, -15.6). A vehicle with ID 17 is 63.6 meters away at (-38.4, -50.8). A vehicle with ID 10 is 63.8 meters away at (-24.1, -59.0). A vehicle with ID 20 is 64.6 meters away at (-40.9, -50.0). A vehicle with ID 19 is 65.7 meters away at (-33.5, -56.5). A vehicle with ID 11 is 66.2 meters away at (-43.9, -49.5).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0182923 -0.570522 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.23895553 0.720136  ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.8763201  -0.47082123] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.2440846  -0.74106175] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.3) m/s. Its current heading (yaw) is -0.20 radians with an angular velocity of -0.20 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 47.4 meters away at (41.2, -23.6). A pedestrian with ID 5 is 48.5 meters away at (42.2, -23.9). A pedestrian with ID 15 is 52.7 meters away at (-36.1, -38.4). A pedestrian with ID 3 is 59.5 meters away at (56.8, -17.7). A vehicle with ID 17 is 67.7 meters away at (-44.3, -51.2). A vehicle with ID 20 is 68.8 meters away at (-46.9, -50.3). A vehicle with ID 19 is 69.2 meters away at (-39.4, -56.9). A vehicle with ID 11 is 70.6 meters away at (-50.0, -49.9).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0024608 -0.6598573] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0498576 -0.4973373] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.3582351 0.7532799] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.333557   -0.85125804] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.5) m/s. Its current heading (yaw) is -0.30 radians with an angular velocity of -0.30 rad/s.

The most relevant actors are: A vehicle with ID 6 is 51.2 meters away at (45.9, -22.7). A vehicle with ID 8 is 69.2 meters away at (-47.0, -50.7). A vehicle with ID 9 is 70.6 meters away at (-49.6, -50.3). A vehicle with ID 1 is 75.8 meters away at (75.3, 8.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.2) m/s. Its current heading (yaw) is 0.05 radians with an angular velocity of 0.05 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 43.5 meters away at (37.4, -22.3). A vehicle with ID 6 is 46.5 meters away at (40.7, -22.4). A vehicle with ID 1 is 71.0 meters away at (70.5, 8.9).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.07178612 -0.03004687] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 3.6) m/s. Its current heading (yaw) is 0.80 radians with an angular velocity of 0.80 rad/s.

The most relevant actors are: A unknown object with ID 4 is 29.7 meters away at (-3.9, 29.4). A vehicle with ID 6 is 41.7 meters away at (32.7, -25.9). A vehicle with ID 1 is 62.8 meters away at (62.6, 5.3).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 4.6) m/s. Its current heading (yaw) is 1.09 radians with an angular velocity of 1.09 rad/s.

The most relevant actors are: A unknown object with ID 4 is 22.8 meters away at (-9.8, 20.7). A vehicle with ID 6 is 43.9 meters away at (27.2, -34.5). A vehicle with ID 1 is 57.0 meters away at (56.9, -3.2).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -5.9) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A vehicle with ID 41 is 5.5 meters away at (5.4, -0.9). A vehicle with ID 45 is 7.1 meters away at (-1.8, -6.8). A vehicle with ID 42 is 7.8 meters away at (6.6, -4.2). A vehicle with ID 44 is 8.5 meters away at (1.4, -8.4). A vehicle with ID 39 is 12.2 meters away at (12.2, 0.2). A vehicle with ID 38 is 12.2 meters away at (11.5, 4.2). A vehicle with ID 46 is 15.3 meters away at (-5.0, -14.4). A vehicle with ID 47 is 18.0 meters away at (-11.2, -14.1). A unknown object with ID 40 is 22.5 meters away at (22.5, -1.5). A vehicle with ID 23 is 22.8 meters away at (-11.9, -19.5).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0.33255416 0.34906754] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, -7.0) m/s. Its current heading (yaw) is -2.45 radians with an angular velocity of -2.45 rad/s.

The most relevant actors are: A vehicle with ID 47 is 5.0 meters away at (4.9, -0.9). A vehicle with ID 49 is 5.4 meters away at (-0.4, -5.4). A vehicle with ID 23 is 7.7 meters away at (4.3, -6.4). A vehicle with ID 46 is 11.1 meters away at (11.0, -1.0). A vehicle with ID 2 is 11.1 meters away at (6.2, -9.2). A vehicle with ID 37 is 11.5 meters away at (-2.1, -11.3). A vehicle with ID 52 is 12.1 meters away at (-6.6, -10.1). A vehicle with ID 45 is 15.7 meters away at (14.3, 6.4). A vehicle with ID 11 is 17.5 meters away at (-7.5, -15.8). A vehicle with ID 44 is 18.1 meters away at (17.5, 4.8).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [9.149366 7.441549] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0.7938036 0.8525013] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, -7.8) m/s. Its current heading (yaw) is -2.43 radians with an angular velocity of -2.43 rad/s.

The most relevant actors are: A vehicle with ID 34 is 6.6 meters away at (5.0, -4.3). A vehicle with ID 11 is 10.0 meters away at (9.9, -0.8). A unknown object with ID 9 is 11.4 meters away at (8.5, -7.6). A vehicle with ID 5 is 11.4 meters away at (-5.9, -9.8). A unknown object with ID 30 is 12.7 meters away at (11.1, -6.1). A vehicle with ID 52 is 13.1 meters away at (11.9, 5.6). A cyclist with ID 25 is 15.6 meters away at (-14.7, -5.1). A vehicle with ID 37 is 15.7 meters away at (15.3, 3.6). A unknown object with ID 22 is 17.1 meters away at (16.9, -2.6). A vehicle with ID 49 is 19.6 meters away at (17.1, 9.6).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [4.392938 4.17984 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.674589 -3.575678] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.25380534  0.1704795 ] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -7.9) m/s. Its current heading (yaw) is -2.45 radians with an angular velocity of -2.45 rad/s.

The most relevant actors are: A cyclist with ID 25 is 6.5 meters away at (-4.9, 4.3). A unknown object with ID 20 is 7.1 meters away at (3.4, -6.3). A vehicle with ID 33 is 8.9 meters away at (8.8, 0.6). A vehicle with ID 7 is 14.4 meters away at (-8.2, -11.9). A vehicle with ID 5 is 23.1 meters away at (19.3, 12.6). A vehicle with ID 34 is 25.9 meters away at (23.1, 11.8). A vehicle with ID 1 is 26.2 meters away at (19.9, 17.1). A vehicle with ID 11 is 32.1 meters away at (28.2, 15.5). A vehicle with ID 52 is 37.2 meters away at (30.0, 22.0). A vehicle with ID 37 is 38.9 meters away at (33.4, 19.9).

The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.2669234 -3.2773771] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.216667 4.73818 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [8.406195  7.0197473] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [2.4505599 2.4278917] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.2767257   0.18153168] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.835684  -7.3301144] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.227671   0.2285387] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.2812807   0.26405525] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -6.5) m/s. Its current heading (yaw) is -0.82 radians with an angular velocity of -0.82 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 21.7 meters away at (-19.6, 9.4). A vehicle with ID 77 is 23.0 meters away at (22.8, -2.9). A vehicle with ID 55 is 24.2 meters away at (-9.8, 22.1). A unknown object with ID 56 is 28.7 meters away at (-24.3, 15.2). A pedestrian with ID 58 is 28.8 meters away at (-8.8, 27.4). A unknown object with ID 59 is 30.9 meters away at (-26.0, 16.6). A vehicle with ID 60 is 32.1 meters away at (-8.4, 31.0). A vehicle with ID 61 is 35.5 meters away at (-17.0, 31.1). A pedestrian with ID 63 is 40.8 meters away at (-9.2, 39.8). A pedestrian with ID 66 is 42.7 meters away at (-6.1, 42.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.21045817 -0.16519855] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-7.66356    6.7555156] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.5839412  -0.07489599] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.01023329 -0.01419703] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.37139493  1.0730528 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -5.4) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A vehicle with ID 77 is 20.5 meters away at (-1.5, 20.5). A vehicle with ID 4 is 24.8 meters away at (23.3, -8.6). A pedestrian with ID 78 is 29.5 meters away at (19.4, -22.3). A vehicle with ID 51 is 37.7 meters away at (33.8, -16.7). A vehicle with ID 27 is 38.6 meters away at (32.8, -20.3). A vehicle with ID 55 is 40.6 meters away at (-21.9, 34.2). A pedestrian with ID 58 is 43.8 meters away at (-18.0, 39.9). A vehicle with ID 60 is 47.5 meters away at (-20.4, 42.9). A unknown object with ID 59 is 47.6 meters away at (-38.0, 28.7). A vehicle with ID 61 is 51.9 meters away at (-29.1, 43.0).

The vehicle with ID 77 is traveling at a (x, y) velocity of [-4.801292   4.9691525] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.4544706  4.037053 ] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.0861251  0.8167945] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-6.910087  4.80406 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 3.7396898 -2.5286653] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [1.1564095  0.87424743] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -4.7) m/s. Its current heading (yaw) is -0.65 radians with an angular velocity of -0.65 rad/s.

The most relevant actors are: A vehicle with ID 4 is 7.7 meters away at (2.1, 7.4). A vehicle with ID 51 is 10.4 meters away at (10.4, 1.2). A pedestrian with ID 78 is 11.6 meters away at (4.8, -10.5). A vehicle with ID 27 is 32.1 meters away at (28.2, -15.4). A vehicle with ID 77 is 45.4 meters away at (-22.2, 39.7). A pedestrian with ID 23 is 48.1 meters away at (35.3, -32.7). A vehicle with ID 15 is 50.3 meters away at (41.2, -28.8). A vehicle with ID 6 is 50.5 meters away at (43.4, -25.9). A pedestrian with ID 22 is 55.0 meters away at (53.3, -13.6). A vehicle with ID 55 is 56.0 meters away at (-34.1, 44.5).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-3.841055   1.1770513] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-4.2802734  3.0709803] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-1.0826979  0.7988639] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 3.5559025 -2.4363153] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.215363  3.658921] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2466503  0.8839058] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.064001  -2.7564282] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.7470932 -1.1280395] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1746953  0.819261 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -4.6) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A pedestrian with ID 78 is 10.2 meters away at (-10.2, 0.4). A vehicle with ID 51 is 18.8 meters away at (-9.8, 16.1). A vehicle with ID 4 is 21.6 meters away at (-16.1, 14.3). A vehicle with ID 27 is 24.3 meters away at (21.9, -10.5). A pedestrian with ID 23 is 29.6 meters away at (20.2, -21.5). A pedestrian with ID 22 is 38.3 meters away at (38.2, -2.5). A vehicle with ID 6 is 39.5 meters away at (34.4, -19.2). A vehicle with ID 15 is 46.1 meters away at (37.9, -26.2). A pedestrian with ID 1 is 47.4 meters away at (34.3, -32.6). A pedestrian with ID 2 is 47.5 meters away at (33.8, -33.3).

The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.950539   0.7350617] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-4.184439   3.3206518] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.99416906 -2.8117568 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 3.0718277 -2.1092339] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0662577  0.9342297] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.0961653  0.8353097] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 2.9488049 -2.049744 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.0216627 -3.535344 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2154692  -0.87601906] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2283634 -0.8542299] m/s.

Instruction: Continue straight.