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 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A vehicle with ID 108 is 3.5 meters away at (2.5, 2.5). A vehicle with ID 56 is 6.0 meters away at (-5.9, -0.9). A vehicle with ID 96 is 7.5 meters away at (-3.8, 6.4). A vehicle with ID 116 is 8.4 meters away at (8.3, -1.4). A vehicle with ID 41 is 10.2 meters away at (-8.3, 5.9). A unknown object with ID 97 is 13.5 meters away at (-9.1, 9.9). A unknown object with ID 114 is 14.2 meters away at (5.7, -13.0). A unknown object with ID 113 is 14.2 meters away at (5.4, -13.1). A vehicle with ID 115 is 14.8 meters away at (14.0, -4.8). A pedestrian with ID 117 is 16.1 meters away at (-4.4, 15.5).

The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.616693   1.1455245] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.3322374   0.21309148] 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 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.01148447 0.00026794] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.0) 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 vehicle with ID 108 is 4.1 meters away at (3.6, 1.8). A vehicle with ID 96 is 6.4 meters away at (-2.8, 5.7). A vehicle with ID 116 is 9.7 meters away at (9.4, -2.2). A vehicle with ID 56 is 9.9 meters away at (-9.8, 0.8). A unknown object with ID 97 is 12.1 meters away at (-7.9, 9.2). A vehicle with ID 41 is 13.0 meters away at (-10.7, 7.4). A unknown object with ID 51 is 14.7 meters away at (-10.9, 9.9). A unknown object with ID 114 is 15.3 meters away at (6.8, -13.7). A unknown object with ID 113 is 15.4 meters away at (6.6, -13.9). A pedestrian with ID 117 is 15.4 meters away at (-3.5, 15.0).

The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.1939237  1.1238039] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-3.3053865  2.1556818] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.03144797 0.01102473] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.7) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 96 is 3.7 meters away at (3.1, 2.0). A unknown object with ID 97 is 5.7 meters away at (-1.9, 5.4). A unknown object with ID 55 is 5.9 meters away at (1.2, 5.8). A unknown object with ID 51 is 7.7 meters away at (-4.8, 6.1). A vehicle with ID 56 is 7.8 meters away at (-7.7, -0.9). A vehicle with ID 108 is 9.8 meters away at (9.6, -2.1). A unknown object with ID 46 is 10.7 meters away at (-7.4, 7.8). A pedestrian with ID 117 is 11.6 meters away at (2.8, 11.2). A vehicle with ID 116 is 16.6 meters away at (15.5, -6.1). A vehicle with ID 57 is 16.8 meters away at (-16.3, 4.0).

The vehicle with ID 96 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.4918907   0.83470964] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [-0.00167273 -0.00392394] m/s.The vehicle with ID 116 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 [-0.33034924  0.20554917] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -4.8) m/s. Its current heading (yaw) is -0.75 radians with an angular velocity of -0.75 rad/s.

The most relevant actors are: A vehicle with ID 64 is 7.0 meters away at (-3.1, -6.2). A vehicle with ID 63 is 7.8 meters away at (-7.1, -3.3). A vehicle with ID 62 is 9.1 meters away at (-9.1, -0.5). A vehicle with ID 65 is 10.9 meters away at (1.4, -10.8). A vehicle with ID 60 is 11.2 meters away at (-11.1, 1.4). A vehicle with ID 66 is 13.2 meters away at (3.5, -12.8). A vehicle with ID 58 is 13.7 meters away at (-13.2, 3.6). A vehicle with ID 57 is 16.1 meters away at (-15.2, 5.4). A vehicle with ID 67 is 17.3 meters away at (7.3, -15.7). A vehicle with ID 59 is 19.9 meters away at (-18.0, 8.5).

The vehicle with ID 64 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 62 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 vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 (3.0, -2.8) m/s. Its current heading (yaw) is -0.76 radians with an angular velocity of -0.76 rad/s.

The most relevant actors are: A vehicle with ID 66 is 6.9 meters away at (-4.6, -5.1). A vehicle with ID 65 is 7.3 meters away at (-6.6, -3.1). A vehicle with ID 67 is 8.1 meters away at (-0.8, -8.0). A vehicle with ID 64 is 11.3 meters away at (-11.2, 1.4). A vehicle with ID 3 is 13.8 meters away at (3.5, -13.3). A vehicle with ID 63 is 15.9 meters away at (-15.2, 4.4). A vehicle with ID 62 is 18.7 meters away at (-17.2, 7.2). A vehicle with ID 47 is 20.9 meters away at (18.9, -8.9). A vehicle with ID 68 is 21.2 meters away at (-5.1, -20.6). A vehicle with ID 60 is 21.4 meters away at (-19.4, 9.0).

The vehicle 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 vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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 62 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 [-7.2479997 -8.170432 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.3) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A vehicle with ID 67 is 6.4 meters away at (-3.9, -5.1). A vehicle with ID 66 is 8.0 meters away at (-7.7, -2.1). A vehicle with ID 65 is 9.8 meters away at (-9.8, -0.1). A vehicle with ID 3 is 10.5 meters away at (0.2, -10.5). A vehicle with ID 64 is 15.0 meters away at (-14.3, 4.4). A vehicle with ID 68 is 19.5 meters away at (-8.3, -17.6). A vehicle with ID 63 is 19.9 meters away at (-18.5, 7.4). A vehicle with ID 47 is 22.6 meters away at (0.8, -22.6). A vehicle with ID 62 is 22.8 meters away at (-20.4, 10.2). A vehicle with ID 60 is 25.5 meters away at (-22.5, 12.0).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 64 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.482401 -8.07728 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A vehicle with ID 67 is 6.3 meters away at (-4.3, -4.7). A vehicle with ID 66 is 8.3 meters away at (-8.1, -1.7). A vehicle with ID 3 is 10.1 meters away at (-0.1, -10.1). A vehicle with ID 65 is 10.3 meters away at (-10.3, 0.3). A vehicle with ID 64 is 15.6 meters away at (-14.9, 4.8). A vehicle with ID 68 is 19.3 meters away at (-8.8, -17.2). A vehicle with ID 63 is 20.4 meters away at (-18.8, 7.8). A vehicle with ID 62 is 23.4 meters away at (-20.9, 10.6). A vehicle with ID 60 is 26.1 meters away at (-23.0, 12.4). A vehicle with ID 58 is 28.9 meters away at (-24.9, 14.6).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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 64 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.8) m/s. Its current heading (yaw) is 2.69 radians with an angular velocity of 2.69 rad/s.

The most relevant actors are: A vehicle with ID 19 is 16.1 meters away at (-0.6, 16.0). A pedestrian with ID 21 is 19.5 meters away at (12.5, -15.0). A pedestrian with ID 22 is 32.4 meters away at (-8.8, 31.1). A pedestrian with ID 9 is 43.7 meters away at (-43.7, 2.3). A pedestrian with ID 13 is 44.4 meters away at (-44.4, 2.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [2.9305444 5.17777  ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.2874413   0.21487686] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03714642 -0.05467592] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.71108526 -1.4041059 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.7148281 -1.2698064] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 1.9) 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 pedestrian with ID 21 is 24.2 meters away at (17.1, -17.1). A vehicle with ID 19 is 24.4 meters away at (11.3, 21.6). A pedestrian with ID 22 is 28.9 meters away at (-3.2, 28.8). A pedestrian with ID 9 is 39.6 meters away at (-39.5, -3.5). A vehicle with ID 12 is 39.8 meters away at (-0.6, 39.8). A pedestrian with ID 13 is 40.6 meters away at (-40.4, -3.2).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.70367473  0.35449296] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.8851705 2.5768104] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.14876182  0.42599735] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.70168686 -1.3201172 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.6802933 -0.989611 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.74554175 -1.2720289 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 1.6) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A pedestrian with ID 22 is 26.6 meters away at (4.9, 26.2). A pedestrian with ID 21 is 32.0 meters away at (24.8, -20.3). A vehicle with ID 19 is 33.9 meters away at (28.6, 18.1). A pedestrian with ID 9 is 33.9 meters away at (-32.3, -10.2). A vehicle with ID 12 is 35.5 meters away at (13.3, 32.9).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.38107303  0.61777073] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22593783  0.10099088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.0823092 -1.9765947] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.57581186 -1.5585096 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.4513016 -2.3499198] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -0.2) m/s. Its current heading (yaw) is -3.10 radians with an angular velocity of -3.10 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 28.2 meters away at (-23.8, -15.1). A vehicle with ID 12 is 38.1 meters away at (28.2, 25.7). A pedestrian with ID 21 is 40.5 meters away at (34.2, -21.7). A vehicle with ID 19 is 51.8 meters away at (50.8, 10.3). A vehicle with ID 15 is 67.1 meters away at (-32.8, -58.5). A vehicle with ID 1 is 68.9 meters away at (-42.2, -54.5). A vehicle with ID 3 is 69.5 meters away at (-44.5, -53.4). A vehicle with ID 5 is 73.7 meters away at (-29.9, -67.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.75592947 -1.5515963 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.0910504 -3.1889465] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.43511552  0.25357088] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.1913104 -4.021377 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.0919502 -6.8558645] m/s.The vehicle with ID 1 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -3.6) m/s. Its current heading (yaw) is -2.42 radians with an angular velocity of -2.42 rad/s.

The most relevant actors are: A unknown object with ID 29 is 25.2 meters away at (-3.0, 25.0). A unknown object with ID 27 is 29.8 meters away at (14.4, 26.0). A unknown object with ID 28 is 29.9 meters away at (12.9, 27.0). A unknown object with ID 35 is 32.9 meters away at (-10.4, 31.3). A unknown object with ID 31 is 33.1 meters away at (19.9, 26.5). A unknown object with ID 20 is 33.2 meters away at (18.9, 27.3). A unknown object with ID 32 is 34.0 meters away at (5.2, 33.6). A unknown object with ID 33 is 35.2 meters away at (34.5, 6.9). A unknown object with ID 34 is 36.3 meters away at (35.4, 8.1). A vehicle with ID 45 is 38.2 meters away at (-17.6, -33.9).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 (-2.5, -2.8) m/s. Its current heading (yaw) is -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A unknown object with ID 4 is 25.5 meters away at (-4.3, -25.1). A vehicle with ID 45 is 29.4 meters away at (-10.9, -27.4). A unknown object with ID 29 is 31.8 meters away at (3.8, 31.6). A vehicle with ID 50 is 36.4 meters away at (-15.7, -32.8). A unknown object with ID 28 is 38.9 meters away at (19.7, 33.5). A unknown object with ID 27 is 38.9 meters away at (21.2, 32.6). A unknown object with ID 32 is 41.9 meters away at (11.9, 40.1). A unknown object with ID 20 is 42.4 meters away at (25.5, 33.9). A unknown object with ID 33 is 43.4 meters away at (41.3, 13.3). A unknown object with ID 13 is 44.6 meters away at (-20.0, -39.9).

The unknown object with ID 4 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 unknown object with ID 29 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.8) m/s. Its current heading (yaw) is -2.25 radians with an angular velocity of -2.25 rad/s.

The most relevant actors are: A unknown object with ID 4 is 21.6 meters away at (-0.9, -21.5). A vehicle with ID 45 is 24.9 meters away at (-7.6, -23.7). A vehicle with ID 50 is 31.7 meters away at (-12.4, -29.1). A unknown object with ID 29 is 35.9 meters away at (6.9, 35.3). A unknown object with ID 18 is 38.7 meters away at (-26.2, 28.5). A unknown object with ID 28 is 43.7 meters away at (22.9, 37.2). A unknown object with ID 27 is 43.7 meters away at (24.4, 36.2). A unknown object with ID 20 is 47.1 meters away at (28.9, 37.2). A unknown object with ID 36 is 49.5 meters away at (9.4, 48.6). A pedestrian with ID 15 is 58.9 meters away at (-40.7, -42.6).

The unknown object with ID 4 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00235072 -0.00737111] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A vehicle with ID 45 is 24.5 meters away at (-7.3, -23.4). A vehicle with ID 50 is 31.3 meters away at (-12.1, -28.8). A unknown object with ID 18 is 38.8 meters away at (-25.9, 28.9). A unknown object with ID 28 is 44.1 meters away at (23.1, 37.5). A unknown object with ID 6 is 44.2 meters away at (23.9, 37.2). A unknown object with ID 10 is 53.6 meters away at (42.1, 33.2). A vehicle with ID 37 is 60.6 meters away at (-31.4, -51.8). A vehicle with ID 39 is 61.7 meters away at (-40.3, -46.7). A vehicle with ID 23 is 64.2 meters away at (-18.0, 61.6). A vehicle with ID 21 is 72.3 meters away at (-48.6, -53.5).

The vehicle with ID 45 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 7.3600297 -6.0288644] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.5) m/s. Its current heading (yaw) is 1.62 radians with an angular velocity of 1.62 rad/s.

The most relevant actors are: A unknown object with ID 48 is 18.6 meters away at (18.6, -0.6). A unknown object with ID 49 is 21.2 meters away at (21.2, -0.8). A unknown object with ID 51 is 22.6 meters away at (22.6, -1.0). A unknown object with ID 52 is 23.1 meters away at (23.0, -1.4). A unknown object with ID 50 is 23.4 meters away at (23.1, -4.2). A unknown object with ID 37 is 24.3 meters away at (23.7, -5.2). A unknown object with ID 29 is 65.1 meters away at (10.2, -64.3). A unknown object with ID 54 is 66.9 meters away at (11.4, -65.9). A unknown object with ID 46 is 67.3 meters away at (-2.8, 67.2). A unknown object with ID 4 is 69.5 meters away at (-2.3, 69.4).

The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 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 (0.1, 4.4) m/s. Its current heading (yaw) is 1.54 radians with an angular velocity of 1.54 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 12.7 meters away at (-10.5, -7.1). A unknown object with ID 48 is 20.8 meters away at (18.7, -9.1). A unknown object with ID 33 is 21.9 meters away at (19.9, -9.2). A unknown object with ID 49 is 23.3 meters away at (21.3, -9.3). A unknown object with ID 4 is 60.9 meters away at (-2.1, 60.8). A unknown object with ID 3 is 63.0 meters away at (-1.5, 63.0). A unknown object with ID 2 is 65.5 meters away at (-1.0, 65.5). A vehicle with ID 36 is 73.2 meters away at (-69.6, -22.9).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.0395584 -0.7431007] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 (0.6, 5.4) m/s. Its current heading (yaw) is 1.47 radians with an angular velocity of 1.47 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 19.7 meters away at (-9.3, -17.4). A unknown object with ID 31 is 30.0 meters away at (-4.5, -29.7). A unknown object with ID 4 is 51.1 meters away at (-2.9, 51.0). A unknown object with ID 3 is 53.2 meters away at (-2.3, 53.2). A unknown object with ID 2 is 55.7 meters away at (-1.7, 55.7). A unknown object with ID 27 is 57.3 meters away at (19.6, -53.9). A vehicle with ID 32 is 68.4 meters away at (-1.4, 68.4). A unknown object with ID 45 is 74.2 meters away at (33.1, 66.4). A vehicle with ID 23 is 74.4 meters away at (-61.4, 42.1).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9570943  -0.24224915] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [ 3.0586383  -0.32415563] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 5.9) m/s. Its current heading (yaw) is 1.40 radians with an angular velocity of 1.40 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 31.6 meters away at (-9.4, -30.2). A unknown object with ID 26 is 37.8 meters away at (2.2, -37.7). A unknown object with ID 4 is 40.1 meters away at (-4.3, 39.8). A unknown object with ID 3 is 42.2 meters away at (-3.7, 42.0). A unknown object with ID 41 is 43.3 meters away at (15.9, 40.3). A unknown object with ID 2 is 44.6 meters away at (-3.2, 44.5). A vehicle with ID 32 is 56.6 meters away at (4.0, 56.5). A unknown object with ID 43 is 57.1 meters away at (-3.9, 57.0). A vehicle with ID 7 is 59.1 meters away at (-12.6, 57.7). A unknown object with ID 45 is 63.6 meters away at (31.2, 55.4).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.486323  -1.1452012] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 41 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 32 is traveling at a (x, y) velocity of [ 3.342264   -0.37375543] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 1.6078188  -0.23675573] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.6) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 37 is 8.5 meters away at (-8.1, -2.4). A vehicle with ID 34 is 11.5 meters away at (3.0, -11.1). A vehicle with ID 40 is 43.6 meters away at (12.5, -41.8). A vehicle with ID 43 is 45.9 meters away at (-6.7, -45.4). A vehicle with ID 42 is 46.4 meters away at (4.9, -46.1). A vehicle with ID 47 is 47.3 meters away at (-20.4, -42.7). A vehicle with ID 44 is 49.2 meters away at (-14.2, -47.1). A unknown object with ID 39 is 49.3 meters away at (24.8, -42.6). A vehicle with ID 36 is 49.5 meters away at (32.3, -37.6). A vehicle with ID 46 is 50.0 meters away at (-19.2, -46.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.41828  -2.544068] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 1.3891115 -0.9385436] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [4.3786016 3.1382422] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 4.7120914  -0.64815336] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [5.424819  1.6215552] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 4.2539725 -0.7004402] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 6.412369  -1.9649512] m/s.The vehicle with ID 46 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 (-7.1, 5.8) 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 unknown object with ID 33 is 19.3 meters away at (-6.8, 18.0). A vehicle with ID 37 is 20.8 meters away at (11.2, -17.5). A vehicle with ID 34 is 30.2 meters away at (18.9, -23.5). A vehicle with ID 47 is 55.8 meters away at (3.7, -55.7). A vehicle with ID 31 is 56.2 meters away at (-38.6, -40.9). A vehicle with ID 43 is 59.6 meters away at (18.5, -56.6). A vehicle with ID 42 is 59.7 meters away at (29.0, -52.2). A vehicle with ID 40 is 60.3 meters away at (36.4, -48.1). A vehicle with ID 13 is 60.9 meters away at (-33.0, -51.2). A vehicle with ID 2 is 60.9 meters away at (-41.5, 44.7).

The unknown object with ID 33 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 [ 1.753305  -1.1479566] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.48687676 -0.11891893] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 5.7497387  -0.72440666] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [6.026208  1.6061528] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [4.558573  3.0596583] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [5.870876  1.2580466] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.3027633  -0.02956251] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.7) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 37 is 40.6 meters away at (27.2, -30.2). A vehicle with ID 2 is 43.6 meters away at (-27.6, 33.7). A pedestrian with ID 3 is 45.9 meters away at (-30.8, 34.0). A vehicle with ID 34 is 48.3 meters away at (33.4, -34.9). A vehicle with ID 31 is 57.5 meters away at (-24.7, -52.0). A vehicle with ID 32 is 62.0 meters away at (-37.2, -49.6). A vehicle with ID 17 is 64.5 meters away at (-42.6, -48.4). A vehicle with ID 13 is 65.0 meters away at (-19.0, -62.2). A vehicle with ID 43 is 75.8 meters away at (43.1, -62.4).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ 0.5208345 -0.1328706] m/s.The vehicle with ID 2 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 [ 1.2309695  -0.93931895] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [4.9035387 3.420008 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.5) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A pedestrian with ID 3 is 25.9 meters away at (-15.0, 21.2). A vehicle with ID 2 is 26.7 meters away at (-14.0, 22.7). A vehicle with ID 37 is 58.1 meters away at (40.9, -41.2). A vehicle with ID 31 is 63.9 meters away at (-11.2, -62.9). A vehicle with ID 34 is 65.6 meters away at (47.0, -45.8). A vehicle with ID 13 is 73.5 meters away at (-5.6, -73.3).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 1.08081    -0.75515187] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -3.1) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A unknown object with ID 17 is 7.1 meters away at (6.7, -2.2). A vehicle with ID 16 is 20.3 meters away at (-19.0, 7.3). A pedestrian with ID 3 is 23.3 meters away at (-18.9, -13.6). A vehicle with ID 18 is 26.4 meters away at (-23.7, 11.6). A vehicle with ID 21 is 27.5 meters away at (-20.2, 18.6). A vehicle with ID 19 is 32.0 meters away at (-27.0, 17.2). A vehicle with ID 23 is 42.5 meters away at (-36.7, 21.4). A vehicle with ID 24 is 48.0 meters away at (-40.6, 25.5).

The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00197642 -0.00546508] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-1.345355  -1.1229758] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -3.9) 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 17 is 5.1 meters away at (1.9, 4.7). A pedestrian with ID 3 is 24.7 meters away at (-23.8, -6.7). A vehicle with ID 16 is 27.8 meters away at (-23.9, 14.3). A unknown object with ID 7 is 27.8 meters away at (-13.3, -24.5). A unknown object with ID 14 is 30.0 meters away at (3.8, -29.8). A unknown object with ID 9 is 30.9 meters away at (3.6, -30.7). A vehicle with ID 18 is 34.2 meters away at (-28.7, 18.6). A vehicle with ID 21 is 35.8 meters away at (-25.1, 25.5). A vehicle with ID 19 is 40.3 meters away at (-32.6, 23.8). A pedestrian with ID 12 is 48.0 meters away at (16.7, -45.0).

The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00202849 -0.00313176] m/s.The vehicle with ID 16 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 14 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 [-0.0054936  -0.00581418] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.5) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 12.3 meters away at (-10.0, -7.2). A unknown object with ID 17 is 12.4 meters away at (1.8, 12.3). A unknown object with ID 14 is 22.5 meters away at (3.8, -22.2). A unknown object with ID 9 is 22.9 meters away at (3.6, -22.6). A pedestrian with ID 3 is 23.9 meters away at (-23.9, 0.9). A vehicle with ID 16 is 32.4 meters away at (-24.0, 21.8). A vehicle with ID 18 is 38.9 meters away at (-28.9, 26.0). A vehicle with ID 21 is 41.6 meters away at (-25.3, 33.1). A vehicle with ID 19 is 45.2 meters away at (-31.8, 32.1). A vehicle with ID 23 is 55.1 meters away at (-41.7, 36.0).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02526096 -0.00189482] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.01432491  0.00145851] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.1) m/s. Its current heading (yaw) is -2.22 radians with an angular velocity of -2.22 rad/s.

The most relevant actors are: A unknown object with ID 11 is 3.2 meters away at (2.6, -1.8). A unknown object with ID 1 is 15.3 meters away at (-10.5, -11.1). A unknown object with ID 14 is 17.8 meters away at (6.9, -16.5). A unknown object with ID 17 is 18.6 meters away at (4.8, 17.9). A pedestrian with ID 3 is 21.9 meters away at (-20.9, 6.6). A vehicle with ID 16 is 34.6 meters away at (-20.9, 27.5). A vehicle with ID 18 is 41.0 meters away at (-25.9, 31.8). A vehicle with ID 21 is 44.7 meters away at (-22.2, 38.8).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.03016418 0.00774155] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -6.0) m/s. Its current heading (yaw) is -1.18 radians with an angular velocity of -1.18 rad/s.

The most relevant actors are: A unknown object with ID 6 is 25.2 meters away at (13.1, -21.5). A unknown object with ID 9 is 33.7 meters away at (-20.6, 26.6). A unknown object with ID 10 is 33.9 meters away at (-20.7, 26.8). A unknown object with ID 13 is 36.1 meters away at (29.5, -20.9). A vehicle with ID 12 is 63.0 meters away at (-13.4, 61.6).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.01271634  8.620718  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -5.9) m/s. Its current heading (yaw) is -1.16 radians with an angular velocity of -1.16 rad/s.

The most relevant actors are: A unknown object with ID 8 is 63.4 meters away at (-21.3, 59.7).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -6.6) m/s. Its current heading (yaw) is -1.16 radians with an angular velocity of -1.16 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 (3.1, -6.2) m/s. Its current heading (yaw) is -1.11 radians with an angular velocity of -1.11 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 (8.7, -4.2) m/s. Its current heading (yaw) is -0.45 radians with an angular velocity of -0.45 rad/s.

The most relevant actors are: A vehicle with ID 105 is 11.1 meters away at (-10.8, -2.6). A cyclist with ID 1 is 14.1 meters away at (-12.7, 6.1). A pedestrian with ID 77 is 16.5 meters away at (-1.6, 16.5). A pedestrian with ID 76 is 17.3 meters away at (-0.8, 17.3). A pedestrian with ID 41 is 18.2 meters away at (-1.2, 18.2). A vehicle with ID 104 is 22.8 meters away at (-22.6, 2.9). A pedestrian with ID 123 is 28.7 meters away at (27.2, 9.3). A vehicle with ID 108 is 30.2 meters away at (-29.3, -7.1). A pedestrian with ID 106 is 31.3 meters away at (-25.8, 17.6). A pedestrian with ID 107 is 31.4 meters away at (-25.5, 18.4).

The vehicle with ID 105 is traveling at a (x, y) velocity of [-1.265359   0.5849419] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 7.805156  -3.1490657] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.88639116 -0.38630152] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.7854836  -0.49454132] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7539093 -0.5779183] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-1.3333673   0.21224831] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-2.5101297 -1.0187179] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.37863    -0.42271596] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [ 1.3409873  -0.45123035] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.3, -4.3) m/s. Its current heading (yaw) is -0.44 radians with an angular velocity of -0.44 rad/s.

The most relevant actors are: A cyclist with ID 1 is 15.3 meters away at (-13.4, 7.4). A unknown object with ID 97 is 16.9 meters away at (16.4, 4.0). A pedestrian with ID 123 is 19.0 meters away at (6.4, 17.9). A vehicle with ID 105 is 30.8 meters away at (-30.1, 6.6). A pedestrian with ID 76 is 32.2 meters away at (-20.2, 25.0). A pedestrian with ID 77 is 32.2 meters away at (-21.1, 24.3). A pedestrian with ID 41 is 32.9 meters away at (-20.6, 25.6). A vehicle with ID 11 is 35.2 meters away at (-32.0, 14.6). A vehicle with ID 104 is 42.3 meters away at (-40.7, 11.6). A pedestrian with ID 106 is 48.3 meters away at (-41.2, 25.3).

The cyclist with ID 1 is traveling at a (x, y) velocity of [ 8.883005  -3.8947523] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [-1.413494   -0.05732197] m/s.The vehicle with ID 105 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 [-0.8909778 -0.5125055] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.809211 -0.596144] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.846551  -0.5869032] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [10.190696 -5.037233] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.1838344  -0.45741168] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -4.2) m/s. Its current heading (yaw) is -0.41 radians with an angular velocity of -0.41 rad/s.

The most relevant actors are: A unknown object with ID 13 is 11.6 meters away at (0.8, 11.6). A unknown object with ID 97 is 12.7 meters away at (-2.2, 12.5). A cyclist with ID 1 is 15.8 meters away at (-13.7, 7.8). A pedestrian with ID 86 is 25.7 meters away at (11.2, 23.1). A vehicle with ID 11 is 33.8 meters away at (-30.9, 13.5). A unknown object with ID 25 is 34.7 meters away at (33.4, -9.3). A unknown object with ID 23 is 36.6 meters away at (35.1, -10.4). A unknown object with ID 28 is 38.8 meters away at (36.9, -11.7). A unknown object with ID 69 is 40.7 meters away at (38.6, -12.8). A unknown object with ID 46 is 43.2 meters away at (40.8, -14.2).

The unknown object with ID 13 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 cyclist with ID 1 is traveling at a (x, y) velocity of [ 9.445948 -4.06313 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1611274   0.25523433] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 9.648208  -4.4741697] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 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 (9.7, -4.1) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A unknown object with ID 25 is 14.3 meters away at (14.2, -0.9). A cyclist with ID 1 is 15.1 meters away at (-12.9, 7.8). A unknown object with ID 23 is 16.0 meters away at (15.9, -1.9). A unknown object with ID 28 is 18.1 meters away at (17.8, -3.2). A unknown object with ID 69 is 19.9 meters away at (19.4, -4.4). A unknown object with ID 46 is 22.3 meters away at (21.6, -5.8). A unknown object with ID 52 is 24.7 meters away at (23.7, -7.1). A unknown object with ID 40 is 25.6 meters away at (25.6, -0.1). A unknown object with ID 73 is 26.7 meters away at (25.5, -8.0). A unknown object with ID 13 is 27.2 meters away at (-18.4, 20.1).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [10.262714 -4.076687] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 3.8) m/s. Its current heading (yaw) is 0.52 radians with an angular velocity of 0.52 rad/s.

The most relevant actors are: A vehicle with ID 94 is 7.4 meters away at (1.3, -7.3). A vehicle with ID 83 is 7.7 meters away at (6.7, -3.8). A pedestrian with ID 92 is 10.5 meters away at (-3.6, -9.9). A pedestrian with ID 89 is 11.9 meters away at (-2.5, -11.6). A pedestrian with ID 85 is 13.4 meters away at (12.5, -4.8). A vehicle with ID 86 is 14.4 meters away at (-9.6, -10.7). A pedestrian with ID 98 is 14.6 meters away at (14.5, -1.9). A pedestrian with ID 53 is 15.7 meters away at (-4.1, -15.1). A pedestrian with ID 91 is 16.3 meters away at (-6.6, -14.9). A pedestrian with ID 99 is 16.5 meters away at (12.4, -10.8).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-0.77667964 -0.8818316 ] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.7117176  0.18243034] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.06961603  0.02180793] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-1.2631482 -0.883366 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.10750394 -0.03187883] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1348933  -0.49857262] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [0.01346375 0.0482382 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 3.7) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A pedestrian with ID 97 is 8.7 meters away at (3.9, -7.7). A pedestrian with ID 95 is 8.7 meters away at (7.2, -4.8). A pedestrian with ID 96 is 9.6 meters away at (4.4, -8.5). A pedestrian with ID 30 is 9.8 meters away at (7.9, -5.8). A pedestrian with ID 98 is 10.9 meters away at (-0.3, -10.9). A pedestrian with ID 85 is 12.2 meters away at (0.1, -12.2). A vehicle with ID 83 is 12.4 meters away at (-5.5, -11.1). A pedestrian with ID 99 is 18.2 meters away at (0.0, -18.2). A vehicle with ID 94 is 18.3 meters away at (-11.0, -14.6). A pedestrian with ID 89 is 23.5 meters away at (-13.5, -19.2).

The pedestrian with ID 97 is traveling at a (x, y) velocity of [-1.0246298 -0.8193772] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0225383  -0.93166906] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-0.9543069 -0.764303 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.0644251 -0.8470556] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-1.244516   -0.67972136] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.00197747  0.0049649 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.00322034  0.00632284] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.898167   -0.07979911] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 3.5) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 25 is 13.9 meters away at (9.8, 9.9). A vehicle with ID 58 is 14.7 meters away at (10.8, -9.9). A pedestrian with ID 95 is 15.2 meters away at (-6.4, -13.8). A pedestrian with ID 30 is 15.8 meters away at (-5.8, -14.7). A pedestrian with ID 97 is 19.4 meters away at (-10.1, -16.6). A pedestrian with ID 96 is 19.7 meters away at (-9.6, -17.2). A vehicle with ID 31 is 21.3 meters away at (13.6, 16.5). A pedestrian with ID 85 is 22.0 meters away at (-10.8, -19.1). A unknown object with ID 76 is 23.7 meters away at (-14.4, -18.8). A vehicle with ID 36 is 23.7 meters away at (18.1, 15.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [1.0096483  0.65838414] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.0700425 -0.8647822] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1090829  -0.80567735] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-1.1891909 -0.7655842] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [-1.2054459 -0.7154653] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.4781402  0.25161162] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 3.4) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 25 is 3.8 meters away at (-0.1, 3.8). A vehicle with ID 31 is 10.0 meters away at (2.6, 9.7). A vehicle with ID 36 is 11.2 meters away at (7.2, 8.6). A vehicle with ID 58 is 16.7 meters away at (-0.1, -16.7). A vehicle with ID 37 is 18.4 meters away at (13.5, 12.5). A vehicle with ID 84 is 25.1 meters away at (16.7, 18.7). A vehicle with ID 1 is 27.1 meters away at (20.9, 17.4). A pedestrian with ID 95 is 29.7 meters away at (-19.6, -22.3). A pedestrian with ID 30 is 30.0 meters away at (-19.1, -23.1). A vehicle with ID 2 is 33.2 meters away at (26.3, 20.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-1.1742504 -0.6836825] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.2081856 -0.6661303] 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 (-5.0, 3.1) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 6 is 33.3 meters away at (20.8, -26.0). A vehicle with ID 7 is 35.2 meters away at (20.1, -28.9). A unknown object with ID 10 is 37.8 meters away at (18.9, 32.7). A vehicle with ID 8 is 46.0 meters away at (33.7, -31.3). A vehicle with ID 4 is 49.9 meters away at (-23.3, 44.1). A pedestrian with ID 5 is 52.2 meters away at (-49.5, 16.7). A pedestrian with ID 3 is 57.2 meters away at (-53.6, 19.9). A unknown object with ID 12 is 58.9 meters away at (58.4, 7.7). A vehicle with ID 9 is 60.2 meters away at (-31.4, 51.4). A cyclist with ID 15 is 65.4 meters away at (51.8, -39.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 [-7.2803807  3.3914866] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2456669 -0.4802018] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.77507484  0.3295394 ] m/s.The unknown object with ID 12 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 cyclist with ID 15 is traveling at a (x, y) velocity of [ 1.7044612  -0.33583024] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 3.4) 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 pedestrian with ID 5 is 37.2 meters away at (-35.9, 9.6). A unknown object with ID 10 is 40.1 meters away at (30.1, 26.5). A vehicle with ID 6 is 45.4 meters away at (31.9, -32.2). A pedestrian with ID 3 is 46.0 meters away at (-43.8, 14.1). A vehicle with ID 7 is 47.0 meters away at (31.3, -35.1). A vehicle with ID 9 is 49.6 meters away at (-20.2, 45.3). A vehicle with ID 4 is 50.5 meters away at (-25.6, 43.6). A vehicle with ID 8 is 58.5 meters away at (44.9, -37.6). A cyclist with ID 15 is 81.0 meters away at (65.8, -47.2).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0949361  -0.41918486] m/s.The unknown object with ID 10 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 pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.7397013   0.30655444] m/s.The vehicle with ID 7 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 4 is traveling at a (x, y) velocity of [-5.9784884  1.3136946] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 1.8642226 -0.6860245] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 3.0) 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 pedestrian with ID 5 is 22.3 meters away at (-22.2, 2.4). A pedestrian with ID 3 is 34.7 meters away at (-33.7, 8.1). A vehicle with ID 9 is 40.1 meters away at (-8.5, 39.2). A vehicle with ID 4 is 41.3 meters away at (-24.5, 33.3). A unknown object with ID 10 is 46.5 meters away at (41.8, 20.4). A vehicle with ID 6 is 58.0 meters away at (43.7, -38.2). A unknown object with ID 2 is 62.2 meters away at (48.2, -39.3). A vehicle with ID 8 is 71.5 meters away at (56.6, -43.6).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.0853205 -0.5102348] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.71784043  0.31072935] m/s.The vehicle with ID 9 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 [-3.1627877 -4.401651 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.6) 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 pedestrian with ID 5 is 9.8 meters away at (-8.9, -4.2). A pedestrian with ID 3 is 24.2 meters away at (-23.9, 3.5). A vehicle with ID 4 is 26.5 meters away at (-17.7, 19.8). A vehicle with ID 9 is 33.8 meters away at (2.7, 33.7).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.081588   -0.37080026] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.616369   0.5037577] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.407586  -2.7974694] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 5.1) 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 unknown object with ID 54 is 5.0 meters away at (5.0, -0.3). A unknown object with ID 116 is 5.3 meters away at (-2.6, 4.6). A unknown object with ID 111 is 8.5 meters away at (1.8, -8.3). A unknown object with ID 106 is 13.6 meters away at (12.6, -5.3). A unknown object with ID 90 is 14.4 meters away at (-10.5, 9.8). A unknown object with ID 74 is 16.9 meters away at (-6.6, -15.6). A unknown object with ID 100 is 17.6 meters away at (-13.9, -10.8). A pedestrian with ID 42 is 19.8 meters away at (-13.1, -14.9). A unknown object with ID 113 is 20.6 meters away at (1.1, -20.6). A pedestrian with ID 43 is 20.7 meters away at (-13.5, -15.7).

The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.0769901   0.81649154] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-1.1062405  0.7527512] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A unknown object with ID 90 is 4.5 meters away at (4.5, -0.2). A unknown object with ID 80 is 5.5 meters away at (-3.0, 4.6). A unknown object with ID 116 is 13.5 meters away at (12.3, -5.4). A unknown object with ID 57 is 14.6 meters away at (-10.9, 9.7). A vehicle with ID 125 is 17.0 meters away at (-0.9, -16.9). A unknown object with ID 63 is 17.1 meters away at (-7.0, -15.6). A unknown object with ID 89 is 17.9 meters away at (-14.4, -10.7). A unknown object with ID 100 is 20.8 meters away at (1.1, -20.8). A unknown object with ID 82 is 22.7 meters away at (-22.0, -5.9). A pedestrian with ID 42 is 23.5 meters away at (-0.3, -23.5).

The unknown object with ID 90 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 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 7.463485 -4.62786 ] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.1224741   0.67877257] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.5) m/s. Its current heading (yaw) is 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A unknown object with ID 57 is 3.6 meters away at (3.6, 0.3). A unknown object with ID 52 is 6.8 meters away at (-4.2, 5.3). A unknown object with ID 80 is 12.5 meters away at (11.5, -4.9). A unknown object with ID 98 is 14.9 meters away at (-11.2, 9.9). A unknown object with ID 82 is 17.0 meters away at (-7.4, -15.3). A vehicle with ID 97 is 17.2 meters away at (-15.9, -6.8). A pedestrian with ID 39 is 17.9 meters away at (-10.4, 14.5). A unknown object with ID 66 is 18.4 meters away at (-15.3, -10.2). A unknown object with ID 89 is 20.2 meters away at (0.1, -20.2). A unknown object with ID 55 is 23.6 meters away at (-23.0, -5.2).

The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 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 97 is traveling at a (x, y) velocity of [ 6.8688126 -4.5907907] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1335796 -0.777143 ] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.4) 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 unknown object with ID 98 is 2.7 meters away at (2.5, 1.0). A pedestrian with ID 39 is 6.9 meters away at (5.5, 4.1). A unknown object with ID 75 is 8.2 meters away at (-5.5, 6.2). A unknown object with ID 52 is 10.2 meters away at (9.5, -3.6). A vehicle with ID 72 is 12.7 meters away at (-2.2, -12.5). A unknown object with ID 55 is 16.9 meters away at (-9.2, -14.2). A unknown object with ID 84 is 17.3 meters away at (-13.2, 11.2). A unknown object with ID 66 is 19.2 meters away at (-1.5, -19.2). A unknown object with ID 45 is 19.3 meters away at (-17.0, -9.2). A unknown object with ID 57 is 19.4 meters away at (17.4, -8.7).

The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 1.1004977 -0.7540671] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 [ 7.7386227 -4.8323526] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 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 unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.15 radians with an angular velocity of -2.15 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 4.8 meters away at (-4.3, -2.1). A pedestrian with ID 19 is 5.0 meters away at (-4.8, -1.5). A vehicle with ID 22 is 5.9 meters away at (5.8, -1.2). A vehicle with ID 17 is 6.8 meters away at (3.0, -6.1). A vehicle with ID 21 is 9.2 meters away at (-4.8, -7.9). A vehicle with ID 20 is 10.4 meters away at (0.3, -10.4). A vehicle with ID 24 is 14.2 meters away at (14.1, 1.2). A vehicle with ID 23 is 15.0 meters away at (-2.4, -14.8). A vehicle with ID 28 is 17.5 meters away at (-9.5, -14.7). A vehicle with ID 27 is 24.0 meters away at (23.6, 4.2).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6823768 -1.0709757] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.70617557 -1.066161  ] m/s.The vehicle with ID 22 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 21 is traveling at a (x, y) velocity of [-0.1656245  -0.26212665] m/s.The vehicle 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. 0.] m/s.The vehicle with ID 23 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 27 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, -0.7) m/s. Its current heading (yaw) is -2.09 radians with an angular velocity of -2.09 rad/s.

The most relevant actors are: A vehicle with ID 17 is 6.3 meters away at (3.5, -5.2). A vehicle with ID 22 is 6.3 meters away at (6.3, -0.4). A pedestrian with ID 18 is 6.3 meters away at (-5.3, -3.5). A pedestrian with ID 19 is 6.6 meters away at (-5.9, -3.0). A vehicle with ID 21 is 9.0 meters away at (-4.6, -7.7). A vehicle with ID 20 is 9.5 meters away at (0.9, -9.5). A vehicle with ID 23 is 14.0 meters away at (-1.9, -13.9). A vehicle with ID 24 is 14.9 meters away at (14.7, 2.2). A vehicle with ID 28 is 17.0 meters away at (-9.3, -14.3). A vehicle with ID 30 is 18.7 meters away at (9.7, 16.0).

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.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7481513 -1.073857 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7598087 -1.0412878] m/s.The vehicle with ID 21 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-0.23685522 -0.33427227] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-1.731758  -2.9287183] 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, -0.6) 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 17 is 5.7 meters away at (4.5, -3.5). A pedestrian with ID 18 is 7.2 meters away at (-5.8, -4.2). A pedestrian with ID 19 is 7.4 meters away at (-6.4, -3.6). A vehicle with ID 22 is 7.4 meters away at (7.3, 1.2). A vehicle with ID 21 is 7.8 meters away at (-4.1, -6.7). A vehicle with ID 20 is 8.1 meters away at (1.8, -7.9). A vehicle with ID 23 is 12.3 meters away at (-0.9, -12.3). A vehicle with ID 30 is 14.9 meters away at (7.8, 12.8). A vehicle with ID 24 is 16.0 meters away at (15.6, 3.7). A vehicle with ID 28 is 17.2 meters away at (-9.4, -14.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.747833  -1.2572709] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7821179 -1.2967709] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.45717734 -0.6930824 ] m/s.The vehicle with ID 20 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 30 is traveling at a (x, y) velocity of [-1.1809173 -1.9183935] m/s.The vehicle with ID 24 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 [-0.7562671 -1.1155105] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.3) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 17 is 5.7 meters away at (4.8, -3.0). A vehicle with ID 20 is 7.6 meters away at (2.2, -7.3). A vehicle with ID 22 is 7.9 meters away at (7.7, 1.9). A pedestrian with ID 18 is 9.1 meters away at (-6.9, -6.0). A pedestrian with ID 19 is 9.3 meters away at (-7.5, -5.6). A vehicle with ID 21 is 9.4 meters away at (-4.9, -8.0). A vehicle with ID 23 is 11.7 meters away at (-0.5, -11.7). A vehicle with ID 30 is 11.9 meters away at (6.2, 10.2). A unknown object with ID 15 is 16.1 meters away at (15.7, -3.6). A vehicle with ID 24 is 16.7 meters away at (16.1, 4.4).

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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.6905694 -1.068819 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.7198728 -1.1335337] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.8858102 -1.3869348] m/s.The vehicle with ID 23 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 [-0.951137  -1.5714207] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.83 radians with an angular velocity of 0.83 rad/s.

The most relevant actors are: A vehicle with ID 29 is 3.7 meters away at (1.6, -3.3). A vehicle with ID 32 is 8.4 meters away at (-8.4, 0.0). A vehicle with ID 34 is 10.0 meters away at (-3.5, -9.3). A vehicle with ID 37 is 13.6 meters away at (-12.7, -4.9). A vehicle with ID 40 is 17.5 meters away at (-8.5, -15.3). A unknown object with ID 51 is 19.3 meters away at (2.4, 19.2). A vehicle with ID 42 is 19.6 meters away at (-16.9, -9.9). A unknown object with ID 50 is 20.4 meters away at (7.4, 19.1). A unknown object with ID 57 is 21.9 meters away at (-1.3, 21.9). A unknown object with ID 33 is 24.7 meters away at (24.6, 2.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 1.4) m/s. Its current heading (yaw) is 0.38 radians with an angular velocity of 0.38 rad/s.

The most relevant actors are: A vehicle with ID 29 is 7.0 meters away at (-2.6, -6.5). A vehicle with ID 32 is 13.0 meters away at (-12.6, -3.2). A vehicle with ID 34 is 14.8 meters away at (-7.8, -12.6). A unknown object with ID 51 is 16.0 meters away at (-2.0, 15.9). A unknown object with ID 50 is 16.0 meters away at (2.9, 15.8). A vehicle with ID 37 is 18.8 meters away at (-16.9, -8.1). A unknown object with ID 57 is 19.4 meters away at (-5.7, 18.6). A vehicle with ID 46 is 19.6 meters away at (14.0, 13.7). A unknown object with ID 33 is 20.3 meters away at (20.3, -0.6). A unknown object with ID 36 is 21.2 meters away at (21.2, 0.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -2.8) m/s. Its current heading (yaw) is -0.50 radians with an angular velocity of -0.50 rad/s.

The most relevant actors are: A unknown object with ID 33 is 10.9 meters away at (10.9, 0.2). A unknown object with ID 36 is 12.0 meters away at (11.9, 1.4). A vehicle with ID 29 is 13.2 meters away at (-11.9, -5.7). A vehicle with ID 46 is 15.2 meters away at (4.6, 14.5). A unknown object with ID 50 is 17.8 meters away at (-6.3, 16.6). A unknown object with ID 51 is 20.1 meters away at (-11.1, 16.8). A vehicle with ID 34 is 20.7 meters away at (-17.0, -11.7). A vehicle with ID 32 is 22.0 meters away at (-21.9, -2.3). A unknown object with ID 57 is 24.5 meters away at (-14.9, 19.5). A vehicle with ID 37 is 27.3 meters away at (-26.3, -7.2).

The unknown object with ID 33 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -4.7) 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 unknown object with ID 33 is 8.3 meters away at (1.1, 8.2). A unknown object with ID 36 is 9.6 meters away at (2.0, 9.4). A unknown object with ID 9 is 16.5 meters away at (-0.0, -16.5). A unknown object with ID 2 is 17.4 meters away at (4.9, -16.7). A vehicle with ID 30 is 21.9 meters away at (20.5, -7.9). A vehicle with ID 29 is 22.0 meters away at (-21.9, 2.4). A vehicle with ID 46 is 23.0 meters away at (-5.4, 22.4). A vehicle with ID 24 is 26.7 meters away at (-16.0, -21.4). A vehicle with ID 25 is 28.0 meters away at (27.8, -2.6). A unknown object with ID 50 is 29.5 meters away at (-16.2, 24.7).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 (4.3, -3.9) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A unknown object with ID 27 is 8.9 meters away at (-4.0, -7.9). A unknown object with ID 26 is 9.5 meters away at (-8.3, -4.5). A unknown object with ID 28 is 9.5 meters away at (-2.8, -9.1). A unknown object with ID 8 is 10.6 meters away at (-5.5, -9.1). A unknown object with ID 16 is 11.0 meters away at (-4.1, -10.2). A unknown object with ID 17 is 11.9 meters away at (-6.1, -10.2). A unknown object with ID 13 is 12.1 meters away at (-4.9, -11.1). A unknown object with ID 29 is 14.2 meters away at (-1.3, -14.1). A vehicle with ID 23 is 14.5 meters away at (5.2, -13.6). A vehicle with ID 25 is 19.4 meters away at (-17.1, 9.1).

The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 23 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 [-3.765278   4.0288334] 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, -3.7) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A vehicle with ID 23 is 6.7 meters away at (-2.7, -6.1). A unknown object with ID 28 is 10.8 meters away at (-10.7, -1.6). A unknown object with ID 29 is 11.4 meters away at (-9.2, -6.7). A unknown object with ID 27 is 12.0 meters away at (-12.0, -0.5). A unknown object with ID 16 is 12.1 meters away at (-11.8, -2.7). A unknown object with ID 13 is 13.3 meters away at (-12.8, -3.6). A unknown object with ID 21 is 13.6 meters away at (-13.5, -1.7). A unknown object with ID 8 is 13.8 meters away at (-13.6, -2.2). A unknown object with ID 17 is 14.3 meters away at (-14.1, -2.8). A unknown object with ID 26 is 16.4 meters away at (-16.2, 2.9).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -3.4) m/s. Its current heading (yaw) is -0.81 radians with an angular velocity of -0.81 rad/s.

The most relevant actors are: A vehicle with ID 23 is 9.6 meters away at (-9.6, 0.9). A vehicle with ID 5 is 10.3 meters away at (9.2, -4.5). A unknown object with ID 28 is 18.5 meters away at (-17.7, 5.4). A unknown object with ID 16 is 19.4 meters away at (-19.0, 4.2). A unknown object with ID 13 is 20.0 meters away at (-19.7, 3.5). A unknown object with ID 27 is 20.1 meters away at (-19.0, 6.6). A unknown object with ID 8 is 21.1 meters away at (-20.4, 5.4). A unknown object with ID 21 is 21.1 meters away at (-20.4, 5.4). A unknown object with ID 17 is 21.4 meters away at (-21.0, 4.3). A unknown object with ID 26 is 25.2 meters away at (-23.1, 10.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -3.0) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (3.1, 1.8). A vehicle with ID 4 is 17.4 meters away at (15.0, -8.7). A vehicle with ID 23 is 17.5 meters away at (-15.9, 7.4). A unknown object with ID 15 is 22.3 meters away at (12.4, -18.6). A pedestrian with ID 24 is 24.3 meters away at (19.8, -14.0). A vehicle with ID 2 is 25.7 meters away at (21.6, -13.9). A vehicle with ID 34 is 46.7 meters away at (27.6, -37.6). A unknown object with ID 18 is 50.4 meters away at (30.0, -40.5). A unknown object with ID 11 is 51.1 meters away at (28.1, -42.7). A pedestrian with ID 33 is 61.7 meters away at (-52.9, 31.7).

The vehicle with ID 5 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 23 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 24 is traveling at a (x, y) velocity of [ 0.06912354 -0.07770886] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.325616  -3.5540154] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.1478076 -0.7433227] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -7.1) m/s. Its current heading (yaw) is -1.26 radians with an angular velocity of -1.26 rad/s.

The most relevant actors are: A vehicle with ID 26 is 22.3 meters away at (-9.7, 20.0). A vehicle with ID 27 is 43.4 meters away at (-17.5, 39.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -7.1) m/s. Its current heading (yaw) is -1.18 radians with an angular velocity of -1.18 rad/s.

The most relevant actors are: A unknown object with ID 21 is 21.6 meters away at (5.8, -20.8). A pedestrian with ID 24 is 55.3 meters away at (51.2, 20.9). A vehicle with ID 27 is 58.3 meters away at (-22.4, 53.8).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.00589372 0.00225866] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -7.0) m/s. Its current heading (yaw) is -1.16 radians with an angular velocity of -1.16 rad/s.

The most relevant actors are: A unknown object with ID 21 is 6.7 meters away at (0.1, -6.7). A unknown object with ID 10 is 50.1 meters away at (15.2, -47.8). A vehicle with ID 5 is 67.0 meters away at (21.7, -63.4). A vehicle with ID 27 is 73.3 meters away at (-28.2, 67.6). A vehicle with ID 3 is 77.0 meters away at (23.6, -73.3).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -6.5) m/s. Its current heading (yaw) is -1.08 radians with an angular velocity of -1.08 rad/s.

The most relevant actors are: A unknown object with ID 13 is 24.7 meters away at (14.8, -19.8). A unknown object with ID 7 is 35.2 meters away at (10.1, -33.8). A unknown object with ID 11 is 35.2 meters away at (11.0, -33.5). A unknown object with ID 16 is 35.3 meters away at (9.6, -34.0). A unknown object with ID 10 is 35.4 meters away at (8.8, -34.3). A vehicle with ID 5 is 52.2 meters away at (15.1, -49.9). A vehicle with ID 3 is 62.3 meters away at (17.3, -59.8).

The unknown object 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 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 unknown object with ID 10 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -0.5) m/s. Its current heading (yaw) is -3.05 radians with an angular velocity of -3.05 rad/s.

The most relevant actors are: A vehicle with ID 3 is 25.8 meters away at (25.8, 0.2). A vehicle with ID 22 is 27.1 meters away at (26.9, -3.5). A unknown object with ID 23 is 60.5 meters away at (-60.3, -5.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.300482    0.41935462] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -2.2) 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 3 is 24.6 meters away at (24.5, 2.2). A unknown object with ID 14 is 33.8 meters away at (-21.0, -26.5). A vehicle with ID 22 is 36.8 meters away at (36.8, -1.5). A unknown object with ID 23 is 50.5 meters away at (-50.4, -2.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.718247   -0.24838611] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.2) m/s. Its current heading (yaw) is -2.07 radians with an angular velocity of -2.07 rad/s.

The most relevant actors are: A vehicle with ID 3 is 21.6 meters away at (19.9, 8.4). A vehicle with ID 22 is 43.6 meters away at (43.3, 4.8).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.2451735  -0.05121542] 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 (-1.8, -5.8) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A vehicle with ID 3 is 22.5 meters away at (13.9, 17.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6110477 -1.2852033] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.5) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 31 is 14.9 meters away at (-3.6, -14.4). A vehicle with ID 33 is 19.9 meters away at (-12.1, 15.8). A vehicle with ID 35 is 30.7 meters away at (-30.4, 3.8). A vehicle with ID 37 is 34.0 meters away at (-29.4, 17.1). A vehicle with ID 36 is 34.1 meters away at (-33.8, 4.4). A vehicle with ID 38 is 37.7 meters away at (-33.0, 18.2). A vehicle with ID 1 is 40.3 meters away at (-29.5, -27.5). A vehicle with ID 40 is 41.1 meters away at (-36.4, 19.0). A vehicle with ID 34 is 43.3 meters away at (34.3, -26.5). A unknown object with ID 39 is 55.9 meters away at (46.0, -31.7).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.4039128 -1.3082412] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 31 is 15.0 meters away at (-2.7, -14.8). A vehicle with ID 33 is 18.8 meters away at (-11.5, 14.9). A vehicle with ID 35 is 29.7 meters away at (-29.5, 3.5). A vehicle with ID 36 is 33.2 meters away at (-32.9, 4.2). A vehicle with ID 37 is 33.2 meters away at (-28.5, 17.0). A vehicle with ID 38 is 36.8 meters away at (-32.1, 18.0). A vehicle with ID 1 is 39.9 meters away at (-28.6, -27.8). A vehicle with ID 40 is 40.2 meters away at (-35.5, 18.8). A vehicle with ID 3 is 69.1 meters away at (-63.1, 28.1). A vehicle with ID 8 is 70.6 meters away at (3.0, 70.5).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 40 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.

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 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 31 is 15.0 meters away at (-2.6, -14.7). A vehicle with ID 33 is 17.0 meters away at (-12.5, 11.6). A vehicle with ID 35 is 29.6 meters away at (-29.4, 3.5). A vehicle with ID 36 is 33.0 meters away at (-32.8, 4.1). A vehicle with ID 37 is 33.1 meters away at (-28.4, 16.9). A vehicle with ID 38 is 36.7 meters away at (-32.0, 18.0). A vehicle with ID 1 is 39.9 meters away at (-28.5, -27.8). A vehicle with ID 40 is 40.1 meters away at (-35.4, 18.8). A vehicle with ID 3 is 69.0 meters away at (-63.1, 28.0). A vehicle with ID 8 is 70.5 meters away at (3.1, 70.4).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.1098982 -3.7165782] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [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 40 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.5) m/s. Its current heading (yaw) is 2.83 radians with an angular velocity of 2.83 rad/s.

The most relevant actors are: A vehicle with ID 33 is 14.9 meters away at (-14.9, 0.4). A vehicle with ID 31 is 15.2 meters away at (-1.5, -15.2). A vehicle with ID 35 is 28.4 meters away at (-28.2, 3.2). A vehicle with ID 37 is 31.9 meters away at (-27.3, 16.6). A vehicle with ID 36 is 32.0 meters away at (-31.7, 3.9). A vehicle with ID 38 is 35.5 meters away at (-30.9, 17.6). A vehicle with ID 40 is 39.0 meters away at (-34.3, 18.6). A vehicle with ID 1 is 39.3 meters away at (-27.4, -28.2). A unknown object with ID 24 is 58.0 meters away at (48.0, -32.5). A vehicle with ID 8 is 70.2 meters away at (4.1, 70.0).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.262402 -6.946026] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching