The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.8) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 54 is 13.7 meters away at (13.7, -0.1). A pedestrian with ID 34 is 14.5 meters away at (8.9, 11.5). A pedestrian with ID 53 is 15.5 meters away at (15.5, 1.0). A pedestrian with ID 21 is 19.5 meters away at (11.8, 15.5). A pedestrian with ID 52 is 23.4 meters away at (23.1, -3.4). A pedestrian with ID 51 is 24.5 meters away at (24.3, -3.3). A vehicle with ID 50 is 26.0 meters away at (25.0, -7.2). A vehicle with ID 23 is 29.9 meters away at (14.8, 26.0). A unknown object with ID 48 is 30.6 meters away at (23.0, -20.1). A unknown object with ID 27 is 31.0 meters away at (22.6, -21.2).

The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.4501734 -1.4969248] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00788178 0.00419482] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.03184958  0.23123798] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.11813072  1.2457695 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00515265  0.0030092 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0003514   0.02092535] m/s.The vehicle with ID 50 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 [-3.0660934 -3.8102381] 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 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 (-8.3, 5.4) 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 45 is 23.1 meters away at (22.4, 5.8). A pedestrian with ID 34 is 24.9 meters away at (24.8, 0.7). A pedestrian with ID 25 is 31.5 meters away at (-29.3, 11.5). A pedestrian with ID 53 is 33.0 meters away at (31.6, -9.4). A vehicle with ID 54 is 35.6 meters away at (33.2, -12.8). A pedestrian with ID 52 is 41.9 meters away at (39.6, -13.8). A pedestrian with ID 51 is 42.7 meters away at (40.4, -13.8). A vehicle with ID 50 is 44.9 meters away at (41.2, -17.9). A unknown object with ID 6 is 46.8 meters away at (-42.5, 19.6). A unknown object with ID 48 is 49.7 meters away at (39.2, -30.6).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.19341806 -0.14113016] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.1988581  0.5838611] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00094374 0.04725926] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 0.8003212 -0.5567588] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.02765546 0.0246048 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0192123   0.00561804] m/s.The vehicle with ID 50 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -3.6) m/s. Its current heading (yaw) is -2.72 radians with an angular velocity of -2.72 rad/s.

The most relevant actors are: A vehicle with ID 17 is 13.0 meters away at (-5.3, -11.8). A vehicle with ID 1 is 13.7 meters away at (13.7, -0.5). A unknown object with ID 16 is 15.0 meters away at (3.4, -14.6). A vehicle with ID 14 is 18.5 meters away at (13.7, 12.4). A vehicle with ID 22 is 20.7 meters away at (-12.0, -16.9). A vehicle with ID 15 is 25.4 meters away at (3.8, 25.1). A cyclist with ID 20 is 26.8 meters away at (-9.3, 25.1). A vehicle with ID 19 is 29.1 meters away at (28.7, -4.8). A vehicle with ID 23 is 29.8 meters away at (-8.0, 28.7). A vehicle with ID 32 is 30.4 meters away at (-17.5, -24.9).

The vehicle with ID 17 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 [-7.5570097  1.9145459] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.6974034  6.9783497] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.57887363 0.55762494] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-4.730191   5.6426797] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-0.04379959  0.01085467] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.332278   6.5413055] m/s.The vehicle with ID 23 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 [8.57841   6.4822907] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -6.3) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A unknown object with ID 2 is 4.4 meters away at (0.4, 4.4). A vehicle with ID 22 is 7.1 meters away at (4.3, -5.7). A vehicle with ID 17 is 10.3 meters away at (10.2, -1.1). A vehicle with ID 32 is 12.6 meters away at (12.1, -3.7). A vehicle with ID 1 is 15.2 meters away at (12.5, 8.6). A unknown object with ID 16 is 19.5 meters away at (19.1, -3.7). A cyclist with ID 20 is 36.5 meters away at (5.9, 36.0). A vehicle with ID 19 is 38.7 meters away at (33.3, 19.7). A vehicle with ID 14 is 40.0 meters away at (14.7, 37.2). A vehicle with ID 24 is 40.2 meters away at (39.5, 7.3).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [5.0008082 3.6876779] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.470826  -3.8923097] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [-0.04177762  0.06194244] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.591808  6.786736] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.452594  7.33433 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.0381403  7.4236894] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, -7.0) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 1 is 16.9 meters away at (13.2, 10.5). A vehicle with ID 22 is 22.7 meters away at (21.3, 7.8). A vehicle with ID 17 is 30.0 meters away at (27.3, 12.5). A unknown object with ID 16 is 37.5 meters away at (36.2, 9.8). A vehicle with ID 32 is 38.1 meters away at (35.5, 13.9). A cyclist with ID 20 is 54.5 meters away at (23.3, 49.3). A vehicle with ID 24 is 56.8 meters away at (43.9, 36.1). A vehicle with ID 25 is 57.3 meters away at (19.1, 54.0). A vehicle with ID 23 is 58.4 meters away at (24.7, 52.9). A vehicle with ID 19 is 60.7 meters away at (39.7, 46.0).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.16227  -6.393144] 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 unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.6104301 1.0178823] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 0.20408638 -0.28307763] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.677733  7.822743] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.1914616  6.1289096] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.4, -8.0) 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 1 is 19.4 meters away at (15.1, 12.2). A vehicle with ID 22 is 45.7 meters away at (39.6, 22.7). A vehicle with ID 17 is 53.4 meters away at (45.8, 27.5). A unknown object with ID 16 is 60.0 meters away at (54.6, 24.8). A vehicle with ID 32 is 63.1 meters away at (55.5, 29.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-8.6558895 -6.9951134] 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 unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -7.5) m/s. Its current heading (yaw) is -2.06 radians with an angular velocity of -2.06 rad/s.

The most relevant actors are: A unknown object with ID 73 is 4.0 meters away at (-2.6, 3.1). A vehicle with ID 72 is 6.1 meters away at (6.1, -0.7). A pedestrian with ID 74 is 6.1 meters away at (-6.1, 0.8). A vehicle with ID 78 is 6.3 meters away at (3.3, -5.4). A vehicle with ID 80 is 9.9 meters away at (0.4, -9.8). A vehicle with ID 71 is 10.0 meters away at (9.0, 4.3). A cyclist with ID 41 is 11.1 meters away at (-7.7, -8.0). A vehicle with ID 86 is 14.7 meters away at (-2.3, -14.5). A vehicle with ID 67 is 15.2 meters away at (12.0, 9.2). A vehicle with ID 69 is 21.5 meters away at (15.6, 14.9).

The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.7742622 -1.4458224] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [-3.0193737 -4.6154084] m/s.The vehicle with ID 86 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.6) 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 cyclist with ID 41 is 5.3 meters away at (-5.1, -1.6). A vehicle with ID 86 is 5.9 meters away at (5.9, 0.7). A vehicle with ID 89 is 6.1 meters away at (2.1, -5.7). A vehicle with ID 80 is 10.0 meters away at (8.5, 5.3). A vehicle with ID 91 is 10.2 meters away at (-0.7, -10.2). A pedestrian with ID 74 is 13.2 meters away at (0.6, 13.2). A vehicle with ID 78 is 15.0 meters away at (11.4, 9.8). A vehicle with ID 95 is 15.0 meters away at (-3.6, -14.6). A unknown object with ID 73 is 19.1 meters away at (5.6, 18.3). A vehicle with ID 72 is 20.4 meters away at (14.3, 14.6).

The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.7089527 -4.4820642] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.9467857 -1.4341611] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -7.6) 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 cyclist with ID 41 is 5.4 meters away at (-0.8, 5.3). A vehicle with ID 95 is 5.6 meters away at (5.6, 0.5). A vehicle with ID 91 is 9.6 meters away at (8.4, 4.7). A vehicle with ID 89 is 14.5 meters away at (11.2, 9.3). A vehicle with ID 46 is 15.6 meters away at (-15.4, -2.5). A vehicle with ID 52 is 16.9 meters away at (3.8, -16.5). A vehicle with ID 56 is 17.5 meters away at (-16.9, -4.8). A vehicle with ID 86 is 21.7 meters away at (15.0, 15.7). A vehicle with ID 42 is 21.8 meters away at (-19.8, -9.1). A vehicle with ID 31 is 22.7 meters away at (11.6, 19.5).

The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.212951 -4.169708] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 [-4.9181743 -8.604588 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.7) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A vehicle with ID 42 is 11.4 meters away at (-9.6, 6.1). A vehicle with ID 56 is 12.3 meters away at (-6.6, 10.4). A cyclist with ID 41 is 13.5 meters away at (4.9, 12.6). A vehicle with ID 46 is 13.7 meters away at (-5.1, 12.7). A vehicle with ID 52 is 14.0 meters away at (13.9, -1.4). A pedestrian with ID 43 is 17.5 meters away at (-13.3, -11.4). A vehicle with ID 33 is 21.1 meters away at (-6.2, -20.1). A vehicle with ID 31 is 21.5 meters away at (12.0, 17.8). A vehicle with ID 95 is 22.3 meters away at (15.9, 15.6). A vehicle with ID 91 is 27.4 meters away at (18.7, 20.0).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [-2.4501534 -3.9717057] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.7414553 -1.2959334] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-5.0083013 -8.5130625] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 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 (7.3, 0.0) m/s. Its current heading (yaw) is 0.00 radians with an angular velocity of 0.00 rad/s.

The most relevant actors are: A vehicle with ID 63 is 11.5 meters away at (6.4, -9.6). A vehicle with ID 68 is 15.5 meters away at (11.7, -10.1). A vehicle with ID 71 is 17.4 meters away at (14.5, -9.7). A vehicle with ID 59 is 19.6 meters away at (-18.0, 7.8). A vehicle with ID 74 is 19.9 meters away at (17.4, -9.7). A vehicle with ID 67 is 21.4 meters away at (0.9, -21.4). A vehicle with ID 69 is 22.0 meters away at (3.6, -21.7). A vehicle with ID 66 is 22.3 meters away at (-1.7, -22.2). A vehicle with ID 72 is 23.0 meters away at (6.3, -22.1). A pedestrian with ID 60 is 23.2 meters away at (-17.8, 14.9).

The vehicle with ID 63 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 71 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 [-2.6941047  2.3093028] m/s.The vehicle with ID 74 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 69 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.16899593 1.5012931 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, 0.1) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 71 is 9.8 meters away at (-0.9, -9.8). A vehicle with ID 74 is 9.9 meters away at (1.9, -9.7). A vehicle with ID 68 is 10.8 meters away at (-3.7, -10.2). A vehicle with ID 80 is 12.2 meters away at (7.4, -9.8). A vehicle with ID 63 is 13.2 meters away at (-9.1, -9.6). A vehicle with ID 82 is 20.6 meters away at (12.0, -16.7). A vehicle with ID 77 is 22.3 meters away at (-0.9, -22.3). A vehicle with ID 75 is 22.8 meters away at (-3.9, -22.4). A vehicle with ID 81 is 22.8 meters away at (1.7, -22.7). A vehicle with ID 73 is 23.3 meters away at (-6.5, -22.4).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.9270339 -0.946231 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, 0.0) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A pedestrian with ID 61 is 11.6 meters away at (9.9, -6.0). A vehicle with ID 80 is 13.4 meters away at (-9.1, -9.9). A vehicle with ID 74 is 17.6 meters away at (-14.6, -9.8). A vehicle with ID 82 is 19.3 meters away at (-8.2, -17.4). A vehicle with ID 71 is 20.1 meters away at (-17.5, -9.9). A vehicle with ID 68 is 22.7 meters away at (-20.2, -10.3). A vehicle with ID 81 is 27.2 meters away at (-14.7, -22.8). A vehicle with ID 63 is 27.4 meters away at (-25.6, -9.7). A vehicle with ID 77 is 28.4 meters away at (-17.4, -22.4). A vehicle with ID 75 is 30.4 meters away at (-20.5, -22.5).

The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.2215548  -0.00745537] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.1716967   0.04051127] m/s.The vehicle with ID 71 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 81 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A pedestrian with ID 61 is 11.7 meters away at (-9.9, -6.1). A vehicle with ID 27 is 18.8 meters away at (15.7, -10.4). A vehicle with ID 26 is 21.1 meters away at (18.5, -10.2). A vehicle with ID 23 is 23.6 meters away at (21.4, -10.1). A vehicle with ID 80 is 28.0 meters away at (-26.2, -9.8). A vehicle with ID 17 is 28.6 meters away at (26.6, -10.5). A vehicle with ID 74 is 33.2 meters away at (-31.8, -9.7). A pedestrian with ID 46 is 35.4 meters away at (19.6, -29.4). A vehicle with ID 71 is 36.0 meters away at (-34.7, -9.7). A vehicle with ID 82 is 36.1 meters away at (-31.8, -17.1).

The pedestrian with ID 61 is traveling at a (x, y) velocity of [-1.3432764  -0.03602231] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.01450311 0.00846661] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-4.083362    0.37228864] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -8.6) m/s. Its current heading (yaw) is -2.32 radians with an angular velocity of -2.32 rad/s.

The most relevant actors are: A vehicle with ID 50 is 8.6 meters away at (-3.1, 8.0). A vehicle with ID 52 is 11.5 meters away at (-11.5, 0.2). A vehicle with ID 51 is 14.8 meters away at (-12.0, 8.6). A vehicle with ID 38 is 16.6 meters away at (-15.0, 7.2). A vehicle with ID 53 is 17.0 meters away at (-16.3, 4.6). A unknown object with ID 40 is 17.7 meters away at (-17.0, -4.9). A vehicle with ID 55 is 22.1 meters away at (-19.1, -11.1). A vehicle with ID 46 is 24.0 meters away at (2.1, 23.9). A cyclist with ID 45 is 26.1 meters away at (11.2, 23.6). A vehicle with ID 39 is 29.6 meters away at (6.4, 28.9).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 cyclist with ID 45 is traveling at a (x, y) velocity of [2.1088362 1.8645773] m/s.The vehicle with ID 39 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 (-7.8, -8.8) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A vehicle with ID 55 is 6.9 meters away at (-3.5, 5.9). A vehicle with ID 26 is 14.0 meters away at (-13.5, -4.0). A vehicle with ID 52 is 17.7 meters away at (4.1, 17.2). A vehicle with ID 53 is 21.7 meters away at (-0.7, 21.7). A vehicle with ID 38 is 24.5 meters away at (0.5, 24.5). A vehicle with ID 51 is 26.2 meters away at (3.4, 25.9). A vehicle with ID 50 is 28.1 meters away at (12.5, 25.2). A vehicle with ID 46 is 44.8 meters away at (17.6, 41.2). A vehicle with ID 39 is 51.0 meters away at (22.1, 46.0). A pedestrian with ID 42 is 54.0 meters away at (30.4, 44.6).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 39 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 [1.57637   1.9572154] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -8.6) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A unknown object with ID 30 is 8.8 meters away at (-5.9, 6.6). A vehicle with ID 26 is 13.1 meters away at (1.9, 13.0). A vehicle with ID 55 is 25.8 meters away at (11.9, 22.9). A unknown object with ID 41 is 32.4 meters away at (-24.9, -20.7). A vehicle with ID 27 is 38.1 meters away at (-22.4, -30.8). A vehicle with ID 31 is 38.6 meters away at (-28.0, -26.6). A vehicle with ID 52 is 39.6 meters away at (19.6, 34.4). A vehicle with ID 53 is 41.6 meters away at (14.7, 38.9). A vehicle with ID 20 is 44.0 meters away at (-31.6, -30.7). A vehicle with ID 51 is 47.2 meters away at (19.0, 43.2).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [7.399036  7.9046507] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, -8.4) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 27 is 9.1 meters away at (8.4, 3.6). A vehicle with ID 31 is 16.3 meters away at (-13.2, -9.6). A vehicle with ID 20 is 21.7 meters away at (-16.8, -13.8). A unknown object with ID 30 is 25.1 meters away at (8.8, 23.5). A vehicle with ID 26 is 34.2 meters away at (16.7, 29.8). A vehicle with ID 14 is 43.2 meters away at (-31.5, -29.6). A unknown object with ID 36 is 47.5 meters away at (-36.8, 30.1). A vehicle with ID 55 is 48.0 meters away at (26.6, 39.9). A vehicle with ID 12 is 48.5 meters away at (-35.0, -33.6). A vehicle with ID 34 is 48.6 meters away at (-42.5, -23.5).

The vehicle with ID 27 is traveling at a (x, y) velocity of [8.549289 9.291052] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.9) m/s. Its current heading (yaw) is 1.20 radians with an angular velocity of 1.20 rad/s.

The most relevant actors are: A vehicle with ID 49 is 5.1 meters away at (1.8, -4.8). A vehicle with ID 48 is 7.6 meters away at (6.5, 3.9). A unknown object with ID 50 is 12.9 meters away at (-9.2, -9.0). A unknown object with ID 51 is 13.1 meters away at (-9.9, -8.5). A unknown object with ID 52 is 13.7 meters away at (-9.8, -9.5). A unknown object with ID 42 is 13.8 meters away at (6.9, -11.9). A pedestrian with ID 54 is 14.2 meters away at (-8.1, 11.6). A pedestrian with ID 56 is 14.9 meters away at (-8.5, 12.3). A pedestrian with ID 55 is 15.9 meters away at (-0.2, 15.9). A vehicle with ID 53 is 16.1 meters away at (-3.3, -15.8).

The vehicle with ID 49 is traveling at a (x, y) velocity of [2.042951  4.5300674] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [2.5026314 3.7752402] 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 unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.1294287 0.8383044] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.1487787  0.84588516] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.5265176 1.5216705] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [1.2768251 2.9184217] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 4.5) m/s. Its current heading (yaw) is 1.19 radians with an angular velocity of 1.19 rad/s.

The most relevant actors are: A vehicle with ID 49 is 5.2 meters away at (4.7, -2.3). A pedestrian with ID 54 is 10.7 meters away at (-8.9, 5.8). A pedestrian with ID 56 is 11.3 meters away at (-9.2, 6.5). A pedestrian with ID 55 is 11.5 meters away at (-2.0, 11.4). A vehicle with ID 48 is 11.6 meters away at (11.1, 3.2). A vehicle with ID 53 is 15.9 meters away at (-3.0, -15.6). A vehicle with ID 57 is 19.9 meters away at (-19.8, -2.5). A unknown object with ID 50 is 20.5 meters away at (-12.3, -16.3). A unknown object with ID 51 is 20.5 meters away at (-13.0, -15.9). A unknown object with ID 58 is 20.8 meters away at (-20.0, 5.5).

The vehicle with ID 49 is traveling at a (x, y) velocity of [4.0358257 4.473046 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.2337612 0.6660167] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.2276692 0.6715798] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.66396564 1.393249  ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [5.0107327 2.4559796] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.0537767 4.5818543] m/s.The vehicle with ID 57 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 unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.4) m/s. Its current heading (yaw) is 1.20 radians with an angular velocity of 1.20 rad/s.

The most relevant actors are: A pedestrian with ID 55 is 6.1 meters away at (-4.5, 4.1). A pedestrian with ID 54 is 10.8 meters away at (-10.4, -2.6). A pedestrian with ID 56 is 11.0 meters away at (-10.8, -2.2). A vehicle with ID 49 is 12.1 meters away at (10.3, -6.3). A vehicle with ID 61 is 14.6 meters away at (-11.1, 9.5). A vehicle with ID 53 is 15.8 meters away at (-2.3, -15.7). A vehicle with ID 1 is 18.9 meters away at (-7.9, 17.2). A vehicle with ID 48 is 19.3 meters away at (18.8, -4.4). A vehicle with ID 40 is 20.0 meters away at (-13.9, 14.3). A unknown object with ID 58 is 24.4 meters away at (-23.9, -4.6).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.71703297 1.4982297 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0846452 0.8214977] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [1.1004039  0.84459066] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [5.9032836 1.9386191] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.827827 5.129951] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.8541183  -0.22873873] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 6.256584   -0.19342916] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 1.4260231  -0.53607494] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 6.0) m/s. Its current heading (yaw) is 1.20 radians with an angular velocity of 1.20 rad/s.

The most relevant actors are: A vehicle with ID 1 is 8.4 meters away at (-5.3, 6.6). A pedestrian with ID 55 is 9.0 meters away at (-7.8, -4.5). A vehicle with ID 6 is 13.3 meters away at (10.7, 8.0). A vehicle with ID 61 is 15.8 meters away at (-15.7, -2.1). A vehicle with ID 40 is 16.4 meters away at (-16.3, 1.9). A pedestrian with ID 56 is 17.5 meters away at (-13.2, -11.5). A pedestrian with ID 54 is 17.6 meters away at (-12.8, -12.1). A vehicle with ID 53 is 18.5 meters away at (1.5, -18.4). A vehicle with ID 11 is 21.4 meters away at (20.6, -5.6). A vehicle with ID 49 is 25.9 meters away at (19.4, -17.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [2.2009857  0.60328686] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [0.46645758 1.480608  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.8504138 -4.096233 ] m/s.The vehicle with ID 61 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 [ 0.6019657  -0.23356876] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.9054519 1.1720842] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.88198733 1.16758   ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [5.5426326 3.2604787] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.9051913 -3.79772  ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ 7.16654   -1.6241952] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 0.2) 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 cyclist with ID 17 is 36.0 meters away at (-35.9, 2.0). A unknown object with ID 27 is 38.7 meters away at (-37.6, -9.3). A unknown object with ID 13 is 39.9 meters away at (-38.5, -10.3). A unknown object with ID 28 is 40.5 meters away at (-39.0, -10.8). A vehicle with ID 26 is 43.0 meters away at (-29.8, 31.0). A vehicle with ID 29 is 49.0 meters away at (49.0, 0.6). A vehicle with ID 25 is 50.4 meters away at (-35.7, 35.5). A vehicle with ID 30 is 52.1 meters away at (-40.6, -32.6). A cyclist with ID 32 is 57.5 meters away at (44.7, -36.1). A unknown object with ID 16 is 80.7 meters away at (29.7, -75.0).

The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.0811646  -0.01706611] 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 13 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 vehicle with ID 26 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.7461672  2.6634858] m/s.The unknown object with ID 16 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 (-1.8, 1.5) 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 cyclist with ID 17 is 34.2 meters away at (-34.2, 0.5). A unknown object with ID 27 is 37.4 meters away at (-35.9, -10.7). A unknown object with ID 13 is 38.6 meters away at (-36.7, -11.9). A unknown object with ID 28 is 39.3 meters away at (-37.3, -12.4). A vehicle with ID 26 is 40.7 meters away at (-28.0, 29.5). A unknown object with ID 20 is 41.5 meters away at (-39.0, -13.9). A vehicle with ID 25 is 48.1 meters away at (-34.0, 34.0). A cyclist with ID 32 is 50.1 meters away at (39.1, -31.4). A vehicle with ID 29 is 50.8 meters away at (50.8, -1.0). A vehicle with ID 30 is 51.6 meters away at (-38.7, -34.1).

The cyclist with ID 17 is traveling at a (x, y) velocity of [ 0.06940676 -0.02701695] 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 13 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 vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.6201     3.0991228] m/s.The vehicle with ID 29 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.3) 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 cyclist with ID 17 is 28.7 meters away at (-28.3, -4.4). A vehicle with ID 26 is 33.0 meters away at (-22.2, 24.5). A unknown object with ID 13 is 35.1 meters away at (-30.8, -16.9). A unknown object with ID 20 is 38.1 meters away at (-33.1, -18.9). A unknown object with ID 14 is 40.5 meters away at (-33.8, -22.2). A vehicle with ID 25 is 40.5 meters away at (-28.2, 29.1). A cyclist with ID 32 is 48.4 meters away at (37.7, -30.3). A vehicle with ID 30 is 50.6 meters away at (-32.7, -38.7). A vehicle with ID 29 is 57.1 meters away at (56.8, -5.8).

The cyclist with ID 17 is traveling at a (x, y) velocity of [0.02212143 0.01065104] m/s.The vehicle with ID 26 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-3.496852  2.937695] 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.0) 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 26 is 20.5 meters away at (-12.5, 16.3). A vehicle with ID 25 is 28.0 meters away at (-18.5, 21.0). A cyclist with ID 32 is 52.3 meters away at (40.6, -32.9). A vehicle with ID 30 is 52.3 meters away at (-23.1, -46.9). A vehicle with ID 22 is 53.5 meters away at (-33.0, 42.0). A unknown object with ID 24 is 67.5 meters away at (-64.9, 18.4). A vehicle with ID 29 is 67.8 meters away at (66.3, -14.2).

The vehicle with ID 26 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 cyclist with ID 32 is traveling at a (x, y) velocity of [-3.3573012  2.7469833] m/s.The vehicle with ID 30 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 24 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -0.8) 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 67 is 8.1 meters away at (-3.5, 7.3). A vehicle with ID 20 is 8.5 meters away at (-8.2, 2.5). A pedestrian with ID 69 is 8.9 meters away at (1.9, 8.7). A vehicle with ID 71 is 14.2 meters away at (-1.3, -14.1). A vehicle with ID 72 is 16.6 meters away at (-16.4, 2.2). A vehicle with ID 75 is 19.7 meters away at (-18.7, 6.1). A vehicle with ID 47 is 21.1 meters away at (17.2, 12.3). A vehicle with ID 77 is 21.2 meters away at (3.3, -20.9). A vehicle with ID 78 is 21.3 meters away at (15.1, 15.1). A vehicle with ID 74 is 22.3 meters away at (-18.7, 12.1).

The vehicle with ID 67 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 [ 1.0642768  -0.38266915] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.3421291  0.399288 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 1.1459984 -0.3852775] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.8443033 -3.7663598] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -1.6) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A vehicle with ID 20 is 11.6 meters away at (-11.0, 3.7). A vehicle with ID 47 is 12.7 meters away at (7.9, 9.9). A pedestrian with ID 69 is 13.7 meters away at (-6.8, 11.9). A vehicle with ID 67 is 14.0 meters away at (-10.1, 9.6). A vehicle with ID 71 is 14.1 meters away at (-7.8, -11.8). A pedestrian with ID 27 is 15.2 meters away at (4.5, 14.5). A pedestrian with ID 26 is 16.8 meters away at (16.8, 0.3). A vehicle with ID 77 is 18.9 meters away at (-3.3, -18.6). A vehicle with ID 78 is 19.5 meters away at (8.6, 17.5). A vehicle with ID 72 is 23.5 meters away at (-23.0, 4.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.2703605 -0.8256665] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-1.1527311 -1.8396113] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.0539738   0.24839377] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.3899199 -1.5523034] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.6504679 1.3785883] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -1.9) m/s. Its current heading (yaw) is -0.34 radians with an angular velocity of -0.34 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 10.4 meters away at (8.3, 6.2). A vehicle with ID 47 is 11.3 meters away at (-5.9, 9.6). A vehicle with ID 61 is 13.5 meters away at (11.6, -6.9). A pedestrian with ID 27 is 16.4 meters away at (-6.2, 15.2). A vehicle with ID 20 is 17.7 meters away at (-16.8, 5.6). A vehicle with ID 64 is 19.1 meters away at (17.1, -8.7). A vehicle with ID 71 is 19.8 meters away at (-17.9, -8.4). A unknown object with ID 86 is 19.8 meters away at (19.7, 1.6). A vehicle with ID 77 is 20.3 meters away at (-13.3, -15.3). A vehicle with ID 78 is 20.8 meters away at (-1.4, 20.7).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [1.2151623 0.6246907] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-2.9281666 -1.5607568] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.25643697 -1.4564625 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 1.8718818 -0.7049561] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.0) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 61 is 3.1 meters away at (0.3, -3.1). A vehicle with ID 64 is 7.4 meters away at (5.5, -4.8). A vehicle with ID 24 is 8.9 meters away at (8.9, 0.3). A unknown object with ID 86 is 9.9 meters away at (8.3, 5.4). A pedestrian with ID 26 is 10.3 meters away at (-0.5, 10.3). A vehicle with ID 65 is 10.5 meters away at (10.1, 2.9). A vehicle with ID 53 is 12.0 meters away at (-5.7, -10.6). A vehicle with ID 63 is 12.6 meters away at (10.8, -6.5). A unknown object with ID 31 is 15.3 meters away at (10.4, -11.2). A vehicle with ID 66 is 16.6 meters away at (16.5, 1.0).

The vehicle with ID 61 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 24 is traveling at a (x, y) velocity of [-4.8013253  1.5692246] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.2851336  -0.39389884] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.6) 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 9 is 13.1 meters away at (9.9, -8.5). A pedestrian with ID 45 is 35.1 meters away at (-29.3, -19.3). A pedestrian with ID 46 is 35.5 meters away at (-29.2, -20.2). A unknown object with ID 25 is 37.4 meters away at (-17.7, -32.9). A pedestrian with ID 23 is 38.1 meters away at (-29.7, -23.8). A unknown object with ID 50 is 39.1 meters away at (-38.3, -7.7). A vehicle with ID 49 is 39.2 meters away at (-32.6, -21.7). A unknown object with ID 51 is 40.6 meters away at (-39.5, -9.4). A pedestrian with ID 47 is 41.2 meters away at (26.6, -31.4). A pedestrian with ID 48 is 41.3 meters away at (25.9, -32.1).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.6976335  3.2304115] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.7509891   0.29325843] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.7487696   0.28885537] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.05584376 -0.07355791] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.63874763  0.68566006] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.58942217  0.7373633 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 4.0) 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 vehicle with ID 9 is 13.2 meters away at (10.0, -8.6). A pedestrian with ID 45 is 34.1 meters away at (-24.3, -23.9). A unknown object with ID 50 is 34.3 meters away at (-31.4, -13.8). A pedestrian with ID 46 is 34.8 meters away at (-24.3, -25.0). A unknown object with ID 51 is 36.0 meters away at (-32.5, -15.4). A pedestrian with ID 53 is 36.9 meters away at (-23.9, 28.1). A pedestrian with ID 23 is 37.5 meters away at (-22.8, -29.8). A vehicle with ID 43 is 37.7 meters away at (-25.5, 27.7). A vehicle with ID 49 is 37.9 meters away at (-26.0, -27.6). A unknown object with ID 25 is 40.4 meters away at (-10.8, -38.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.8367689  2.458184 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0059022   0.70112526] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.0023104   0.69909203] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.00589966 -0.00392221] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.11216246 -0.09189004] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 (-6.0, 5.3) 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 vehicle with ID 9 is 22.5 meters away at (17.0, -14.8). A vehicle with ID 43 is 23.6 meters away at (-14.8, 18.4). A unknown object with ID 50 is 30.9 meters away at (-20.5, -23.1). A unknown object with ID 51 is 33.0 meters away at (-21.8, -24.8). A pedestrian with ID 45 is 35.5 meters away at (-15.5, -31.9). A pedestrian with ID 46 is 36.5 meters away at (-15.3, -33.1). A pedestrian with ID 14 is 39.8 meters away at (-34.1, 20.5). A vehicle with ID 49 is 39.9 meters away at (-15.3, -36.9). A pedestrian with ID 15 is 40.1 meters away at (-34.8, 19.9). A vehicle with ID 34 is 51.3 meters away at (-51.2, -1.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.8098191  1.5350769] m/s.The vehicle with ID 43 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 pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.8241535   0.75563633] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.814304  0.622262] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.94423205  0.80483454] m/s.The vehicle with ID 49 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 [-0.95167     0.79734594] m/s.The vehicle with ID 34 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 (-6.9, 6.0) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 43 is 6.8 meters away at (-1.4, 6.6). A pedestrian with ID 14 is 24.9 meters away at (-22.6, 10.5). A pedestrian with ID 15 is 25.2 meters away at (-23.2, 9.8). A vehicle with ID 9 is 32.1 meters away at (24.2, -21.1). A vehicle with ID 34 is 40.0 meters away at (-37.6, -13.8). A vehicle with ID 11 is 40.4 meters away at (-37.9, -13.9). A pedestrian with ID 45 is 42.9 meters away at (-4.0, -42.7). A pedestrian with ID 46 is 44.1 meters away at (-3.6, -44.0). A vehicle with ID 49 is 48.5 meters away at (-2.0, -48.4). A unknown object with ID 40 is 53.5 meters away at (-52.9, 8.0).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-1.0385334  0.8984146] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-1.0559306   0.85232586] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-4.7035375  4.0898714] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.318646    0.17227347] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.20984    0.3240648] m/s.The vehicle with ID 49 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.4) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A vehicle with ID 48 is 7.2 meters away at (-5.3, 4.8). A pedestrian with ID 5 is 8.5 meters away at (2.9, 7.9). A vehicle with ID 45 is 8.5 meters away at (-8.5, -0.3). A vehicle with ID 46 is 8.9 meters away at (-4.4, 7.8). A pedestrian with ID 58 is 11.3 meters away at (-11.1, -2.2). A pedestrian with ID 60 is 11.6 meters away at (-11.2, -2.9). A vehicle with ID 51 is 13.7 meters away at (-13.7, 1.3). A vehicle with ID 10 is 16.4 meters away at (15.5, 5.3). A vehicle with ID 2 is 17.4 meters away at (5.4, -16.6). A vehicle with ID 50 is 18.9 meters away at (-18.6, 3.0).

The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.5138273  1.7406868] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2941664  -0.54830927] m/s.The vehicle with ID 45 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 pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.9198227   0.24644196] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.90980715  0.25909343] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.27130592 -0.80460614] m/s.The vehicle with ID 2 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.

Instruction: Slight 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 -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A pedestrian with ID 5 is 8.7 meters away at (4.7, 7.3). A vehicle with ID 45 is 9.2 meters away at (-9.2, -0.0). A vehicle with ID 46 is 9.5 meters away at (-5.1, 8.0). A pedestrian with ID 58 is 13.8 meters away at (-13.8, -1.2). A pedestrian with ID 60 is 13.9 meters away at (-13.8, -2.0). A vehicle with ID 51 is 14.5 meters away at (-14.4, 1.5). A vehicle with ID 10 is 15.4 meters away at (14.6, 5.0). A vehicle with ID 2 is 17.0 meters away at (4.7, -16.3). A vehicle with ID 8 is 19.4 meters away at (14.2, 13.1). A vehicle with ID 50 is 19.7 meters away at (-19.4, 3.3).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.2607944 -0.2753542] m/s.The vehicle with ID 45 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 pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0727662   0.34774223] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0027596   0.37147465] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A vehicle with ID 45 is 9.3 meters away at (-9.3, -0.0). A vehicle with ID 46 is 9.6 meters away at (-5.2, 8.0). A pedestrian with ID 5 is 10.3 meters away at (7.6, 7.0). A vehicle with ID 10 is 14.3 meters away at (14.0, 2.5). A vehicle with ID 51 is 14.6 meters away at (-14.5, 1.6). A pedestrian with ID 58 is 15.8 meters away at (-15.8, -0.4). A pedestrian with ID 60 is 15.9 meters away at (-15.9, -1.2). A vehicle with ID 2 is 16.9 meters away at (4.6, -16.3). A vehicle with ID 8 is 19.3 meters away at (14.1, 13.2). A vehicle with ID 50 is 19.7 meters away at (-19.5, 3.3).

The vehicle with ID 45 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 pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.4086456 -0.2735251] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.01668742 -2.5024974 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0521021   0.32869452] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.100151  0.332482] m/s.The vehicle 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.The vehicle with ID 50 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, -0.5) m/s. Its current heading (yaw) is -0.37 radians with an angular velocity of -0.37 rad/s.

The most relevant actors are: A vehicle with ID 45 is 10.4 meters away at (-10.4, 0.3). A vehicle with ID 46 is 10.5 meters away at (-6.3, 8.4). A pedestrian with ID 5 is 11.5 meters away at (9.4, 6.7). A vehicle with ID 51 is 15.7 meters away at (-15.6, 1.9). A vehicle with ID 10 is 15.8 meters away at (15.3, -3.8). A vehicle with ID 2 is 16.3 meters away at (3.5, -15.9). A vehicle with ID 8 is 18.8 meters away at (13.1, 13.5). A pedestrian with ID 58 is 18.9 meters away at (-18.9, 0.5). A pedestrian with ID 60 is 19.1 meters away at (-19.1, -0.2). A unknown object with ID 62 is 19.8 meters away at (14.9, -13.0).

The vehicle with ID 45 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 pedestrian with ID 5 is traveling at a (x, y) velocity of [ 1.4073617  -0.38115597] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.2666812 -4.02838  ] m/s.The vehicle 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.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.1527957   0.29643217] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1496788   0.30776948] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 3.9) 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 91 is 9.8 meters away at (9.5, -2.4). A pedestrian with ID 92 is 22.4 meters away at (21.3, -6.8). A vehicle with ID 99 is 24.7 meters away at (-20.8, 13.3). A vehicle with ID 15 is 27.7 meters away at (-21.1, 18.0). A pedestrian with ID 100 is 42.3 meters away at (-30.0, 29.8). A vehicle with ID 44 is 42.7 meters away at (-29.2, 31.1). A vehicle with ID 36 is 45.0 meters away at (34.8, -28.5). A vehicle with ID 101 is 47.1 meters away at (-46.9, 5.0). A vehicle with ID 43 is 49.4 meters away at (-34.6, 35.2). A vehicle with ID 95 is 49.5 meters away at (-37.4, 32.4).

The vehicle with ID 91 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 [-1.4692833   0.61578757] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [ 7.2326455 -6.017459 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.843063  5.110149] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.4471942 -0.3218365] m/s.The vehicle with ID 44 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 [-3.621491   1.3168842] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [-6.018789   5.1953783] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.5) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 99 is 7.8 meters away at (3.0, -7.2). A vehicle with ID 91 is 22.3 meters away at (19.5, -11.0). A vehicle with ID 44 is 29.6 meters away at (-19.3, 22.4). A pedestrian with ID 100 is 29.8 meters away at (-20.1, 22.0). A vehicle with ID 15 is 30.4 meters away at (-23.1, 19.8). A pedestrian with ID 92 is 31.6 meters away at (28.4, -13.8). A vehicle with ID 43 is 36.3 meters away at (-24.7, 26.6). A vehicle with ID 101 is 37.1 meters away at (-36.9, -3.6). A vehicle with ID 102 is 41.1 meters away at (-40.5, -7.1). A vehicle with ID 103 is 43.0 meters away at (-41.9, -9.6).

The vehicle with ID 99 is traveling at a (x, y) velocity of [ 6.5169463 -5.8066144] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.04922875  0.11046267] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.900216  5.047684] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [-1.3742615   0.95474297] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 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 (-5.9, 5.0) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 44 is 15.1 meters away at (-8.1, 12.7). A vehicle with ID 43 is 21.6 meters away at (-13.4, 16.9). A unknown object with ID 67 is 28.5 meters away at (11.4, -26.2). A vehicle with ID 101 is 28.9 meters away at (-25.7, -13.3). A pedestrian with ID 110 is 30.4 meters away at (-29.5, 7.3). A vehicle with ID 15 is 30.4 meters away at (-23.0, 19.9). A vehicle with ID 104 is 33.2 meters away at (-33.2, 1.2). A vehicle with ID 102 is 33.8 meters away at (-29.3, -16.8). A pedestrian with ID 42 is 35.0 meters away at (-32.9, 12.0). A vehicle with ID 105 is 35.0 meters away at (-35.0, -0.9).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.92185175 -0.93716395] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.3046274  4.5391116] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.8347156  0.5896597] m/s.The vehicle with ID 105 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 (-5.7, 4.9) 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 44 is 4.4 meters away at (3.4, 2.8). A vehicle with ID 43 is 7.2 meters away at (-1.8, 6.9). A pedestrian with ID 110 is 16.3 meters away at (-15.6, -4.7). A pedestrian with ID 42 is 22.9 meters away at (-22.7, 3.2). A vehicle with ID 104 is 23.2 meters away at (-21.5, -8.9). A vehicle with ID 15 is 25.6 meters away at (-19.3, 16.9). A vehicle with ID 105 is 25.8 meters away at (-23.3, -10.9). A vehicle with ID 101 is 27.3 meters away at (-14.1, -23.3). A vehicle with ID 107 is 31.0 meters away at (-26.8, -15.6). A vehicle with ID 102 is 32.1 meters away at (-17.8, -26.8).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.97472894 -0.98484147] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.757812    0.70430714] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.3006647  1.9722304] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 3.4) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A pedestrian with ID 81 is 9.4 meters away at (1.8, 9.3). A vehicle with ID 84 is 9.5 meters away at (-6.4, 7.1). A vehicle with ID 78 is 10.7 meters away at (-2.6, -10.4). A vehicle with ID 83 is 12.0 meters away at (-8.6, -8.3). A pedestrian with ID 88 is 13.6 meters away at (-6.3, 12.1). A pedestrian with ID 90 is 14.2 meters away at (-6.2, 12.8). A vehicle with ID 89 is 15.7 meters away at (-14.5, -6.2). A pedestrian with ID 76 is 17.6 meters away at (3.8, -17.2). A vehicle with ID 95 is 18.4 meters away at (-15.3, 10.2). A vehicle with ID 96 is 21.3 meters away at (-21.0, -3.9).

The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.9102677 -0.5090932] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.68892753 -0.32110658] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7670875  -0.33644596] m/s.The vehicle with ID 89 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 [ 0.02283624 -0.0096171 ] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-10.1, 3.5) 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 95 is 5.1 meters away at (4.2, 3.0). A vehicle with ID 101 is 5.3 meters away at (-1.4, 5.1). A vehicle with ID 96 is 11.2 meters away at (-1.4, -11.1). A vehicle with ID 104 is 11.5 meters away at (-8.6, 7.6). A vehicle with ID 69 is 12.1 meters away at (-8.4, -8.7). A vehicle with ID 84 is 13.2 meters away at (13.2, -0.1). A vehicle with ID 89 is 14.4 meters away at (5.2, -13.4). A vehicle with ID 70 is 15.1 meters away at (-13.6, -6.7). A pedestrian with ID 88 is 15.4 meters away at (14.8, 4.2). A pedestrian with ID 90 is 15.8 meters away at (15.0, 5.1).

The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.6811316  -0.32566088] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7525963  -0.32264206] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.6, 3.1) 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 116 is 5.3 meters away at (-1.4, 5.2). A vehicle with ID 28 is 9.4 meters away at (-6.2, 7.1). A vehicle with ID 104 is 10.6 meters away at (10.6, 1.0). A vehicle with ID 71 is 11.0 meters away at (-0.9, -11.0). A vehicle with ID 72 is 11.2 meters away at (-7.2, -8.6). A vehicle with ID 70 is 14.6 meters away at (5.9, -13.3). A vehicle with ID 73 is 15.5 meters away at (-14.3, -6.1). A vehicle with ID 101 is 18.0 meters away at (17.9, -1.5). A vehicle with ID 69 is 18.7 meters away at (10.9, -15.2). A vehicle with ID 17 is 19.0 meters away at (-15.9, 10.4).

The vehicle with ID 116 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 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 3.4) m/s. Its current heading (yaw) is 2.79 radians with an angular velocity of 2.79 rad/s.

The most relevant actors are: A vehicle with ID 17 is 4.6 meters away at (2.7, 3.7). A vehicle with ID 24 is 10.7 meters away at (-2.0, -10.5). A vehicle with ID 28 is 12.5 meters away at (12.5, 0.4). A vehicle with ID 73 is 13.4 meters away at (4.3, -12.7). A vehicle with ID 116 is 17.3 meters away at (17.3, -1.5). A vehicle with ID 72 is 19.1 meters away at (11.5, -15.3). A vehicle with ID 11 is 20.2 meters away at (-19.7, -4.2). A vehicle with ID 71 is 25.1 meters away at (17.8, -17.6). A vehicle with ID 104 is 29.9 meters away at (29.4, -5.7). A vehicle with ID 70 is 31.7 meters away at (24.6, -19.9).

The vehicle with ID 17 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. 0.] m/s.The vehicle with ID 73 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 (2.3, -0.3) m/s. Its current heading (yaw) is -0.14 radians with an angular velocity of -0.14 rad/s.

The most relevant actors are: A pedestrian with ID 7 is 39.4 meters away at (20.7, 33.6). A pedestrian with ID 9 is 43.8 meters away at (37.8, -22.2).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.06650674 1.5352372 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.24393184 1.0449224 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 1.3) m/s. Its current heading (yaw) is 0.31 radians with an angular velocity of 0.31 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 36.7 meters away at (30.7, -20.0). A pedestrian with ID 7 is 39.0 meters away at (15.3, 35.9).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.20237634 1.3124108 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.984928  1.0612031] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.4) m/s. Its current heading (yaw) is 0.95 radians with an angular velocity of 0.95 rad/s.

The most relevant actors are: A unknown object with ID 2 is 26.7 meters away at (-6.1, 26.0). A pedestrian with ID 9 is 33.4 meters away at (23.8, -23.4). A pedestrian with ID 7 is 33.4 meters away at (8.3, 32.4). A vehicle with ID 1 is 67.1 meters away at (54.9, -38.6).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.66457003 1.5639701 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.24185684  1.3892759 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.823657  3.153749] m/s.

Instruction: right u-turn approaching.


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

The most relevant actors are: A pedestrian with ID 7 is 27.0 meters away at (3.0, 26.9). A pedestrian with ID 9 is 35.2 meters away at (20.1, -28.9). A vehicle with ID 1 is 58.3 meters away at (41.1, -41.4).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.11981085  1.4903429 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.60998034 1.3940202 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.955346   2.5190668] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -2.6) m/s. Its current heading (yaw) is -0.92 radians with an angular velocity of -0.92 rad/s.

The most relevant actors are: A pedestrian with ID 87 is 11.6 meters away at (-0.4, 11.5). A vehicle with ID 80 is 11.9 meters away at (-4.3, -11.1). A pedestrian with ID 88 is 12.5 meters away at (-1.4, 12.4). A vehicle with ID 77 is 17.5 meters away at (-8.1, -15.5). A vehicle with ID 89 is 19.0 meters away at (2.3, -18.8). A pedestrian with ID 91 is 20.2 meters away at (14.7, -13.8). A vehicle with ID 86 is 22.6 meters away at (-0.9, -22.5). A pedestrian with ID 93 is 24.3 meters away at (16.5, -17.9). A vehicle with ID 75 is 24.6 meters away at (-12.6, -21.0). A pedestrian with ID 96 is 25.4 meters away at (17.8, -18.1).

The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.00496183 -0.00326351] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.00758018 -0.01985752] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.02837536 0.00998371] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.32173705 -0.11192497] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.06197304 0.01502894] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -3.7) m/s. Its current heading (yaw) is -1.79 radians with an angular velocity of -1.79 rad/s.

The most relevant actors are: A vehicle with ID 80 is 7.6 meters away at (-6.0, -4.6). A unknown object with ID 47 is 11.0 meters away at (4.7, -9.9). A vehicle with ID 89 is 12.3 meters away at (0.6, -12.3). A vehicle with ID 77 is 13.4 meters away at (-9.8, -9.1). A pedestrian with ID 91 is 14.8 meters away at (12.9, -7.3). A vehicle with ID 86 is 16.2 meters away at (-2.6, -16.0). A pedestrian with ID 87 is 18.1 meters away at (-2.2, 18.0). A pedestrian with ID 93 is 19.0 meters away at (15.1, -11.6). A pedestrian with ID 88 is 19.2 meters away at (-3.3, 18.9). A pedestrian with ID 69 is 19.4 meters away at (15.0, -12.3).

The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.00791807 -0.00183886] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00514887 -0.00945249] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01141706  0.07315358] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.01693334 -0.00141313] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.25061122  0.15601182] 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, -3.9) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A vehicle with ID 80 is 3.2 meters away at (-1.7, 2.7). A vehicle with ID 77 is 5.8 meters away at (-5.5, -1.7). A vehicle with ID 89 is 6.9 meters away at (4.8, -5.0). A vehicle with ID 86 is 8.7 meters away at (1.6, -8.6). A vehicle with ID 84 is 9.1 meters away at (-2.8, -8.7). A vehicle with ID 75 is 12.2 meters away at (-10.1, -6.9). A vehicle with ID 85 is 13.2 meters away at (-2.0, -13.0). A pedestrian with ID 94 is 14.7 meters away at (1.9, -14.6). A pedestrian with ID 91 is 17.2 meters away at (17.2, 0.1). A vehicle with ID 18 is 18.6 meters away at (-14.1, -12.1).

The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 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 [3.538962  4.2217016] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [0.92526203 1.1388046 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.00949887 0.00429514] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -4.9) m/s. Its current heading (yaw) is -2.24 radians with an angular velocity of -2.24 rad/s.

The most relevant actors are: A vehicle with ID 75 is 3.6 meters away at (-3.0, 1.9). A vehicle with ID 85 is 6.5 meters away at (5.0, -4.1). A vehicle with ID 77 is 7.3 meters away at (1.4, 7.1). A vehicle with ID 18 is 7.8 meters away at (-7.1, -3.2). A vehicle with ID 86 is 8.6 meters away at (8.6, 0.3). A vehicle with ID 83 is 9.2 meters away at (0.9, -9.2). A pedestrian with ID 94 is 11.5 meters away at (11.0, -3.3). A pedestrian with ID 100 is 12.2 meters away at (7.4, -9.7). A pedestrian with ID 90 is 12.2 meters away at (4.5, -11.3). A vehicle with ID 89 is 12.4 meters away at (11.8, 4.0).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 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 86 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 94 is traveling at a (x, y) velocity of [0.89435065 1.1167464 ] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [0.6328139  0.71384406] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.8110477 1.107674 ] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -2.3) 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 cyclist with ID 48 is 33.6 meters away at (15.5, 29.8). A vehicle with ID 50 is 37.1 meters away at (23.7, -28.6). A unknown object with ID 49 is 40.9 meters away at (24.2, 33.0). A vehicle with ID 47 is 41.5 meters away at (14.3, 39.0). A vehicle with ID 46 is 49.3 meters away at (37.9, -31.4). A unknown object with ID 20 is 54.1 meters away at (-16.6, 51.5). A vehicle with ID 51 is 62.4 meters away at (-31.3, 53.9). A vehicle with ID 52 is 66.0 meters away at (-58.8, 30.0). A pedestrian with ID 53 is 71.9 meters away at (-60.2, 39.2).

The cyclist with ID 48 is traveling at a (x, y) velocity of [-7.0853276  4.097155 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-3.1478293  -0.42355907] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 4.8334527 -1.5141844] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.8492646  -0.14486769] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.1) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A vehicle with ID 50 is 30.6 meters away at (17.6, -25.0). A unknown object with ID 19 is 37.6 meters away at (23.9, 29.0). A unknown object with ID 49 is 40.8 meters away at (18.0, 36.6). A cyclist with ID 48 is 40.9 meters away at (-4.0, 40.7). A vehicle with ID 42 is 41.1 meters away at (14.6, -38.4). A vehicle with ID 46 is 42.2 meters away at (31.8, -27.8). A vehicle with ID 47 is 43.3 meters away at (8.1, 42.5). A vehicle with ID 45 is 46.3 meters away at (14.3, -44.0). A vehicle with ID 52 is 60.4 meters away at (-53.1, 28.8). A vehicle with ID 51 is 70.0 meters away at (-43.2, 55.0).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-6.4222627  3.550057 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.1357646 -3.08945  ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.9562654 -2.1587167] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.4) m/s. Its current heading (yaw) is -0.55 radians with an angular velocity of -0.55 rad/s.

The most relevant actors are: A vehicle with ID 50 is 28.5 meters away at (15.6, -23.8). A vehicle with ID 42 is 39.4 meters away at (12.8, -37.3). A vehicle with ID 46 is 39.9 meters away at (29.8, -26.6). A unknown object with ID 49 is 41.0 meters away at (16.1, 37.7). A vehicle with ID 39 is 43.2 meters away at (9.4, 42.2). A vehicle with ID 47 is 44.0 meters away at (6.1, 43.6). A vehicle with ID 45 is 44.5 meters away at (12.3, -42.8). A vehicle with ID 52 is 48.3 meters away at (-42.3, 23.3). A cyclist with ID 48 is 52.1 meters away at (-18.9, 48.6). A unknown object with ID 15 is 61.4 meters away at (-24.7, 56.2).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.176564  -3.5060508] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-6.557694   3.3631034] m/s.The unknown object with ID 15 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 (3.7, -2.1) 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 50 is 23.9 meters away at (11.1, -21.2). A vehicle with ID 46 is 34.8 meters away at (25.3, -23.9). A vehicle with ID 42 is 35.5 meters away at (8.2, -34.6). A unknown object with ID 35 is 37.2 meters away at (17.6, 32.8). A vehicle with ID 52 is 40.2 meters away at (-35.3, 19.3). A vehicle with ID 45 is 40.9 meters away at (7.8, -40.1). A unknown object with ID 49 is 42.0 meters away at (11.5, 40.4). A vehicle with ID 47 is 46.2 meters away at (1.6, 46.2). A cyclist with ID 48 is 67.6 meters away at (-35.8, 57.3). A vehicle with ID 51 is 74.2 meters away at (-55.3, 49.4).

The vehicle with ID 50 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 5.0766387 -2.7329266] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 48 is traveling at a (x, y) velocity of [-5.840051   3.3799126] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-0.5901117 -1.5474174] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 63 is 4.6 meters away at (4.6, 0.3). A vehicle with ID 57 is 4.7 meters away at (0.2, -4.6). A vehicle with ID 47 is 9.4 meters away at (-0.8, 9.3). A vehicle with ID 17 is 10.7 meters away at (9.2, 5.5). A vehicle with ID 54 is 11.0 meters away at (-4.2, -10.1). A vehicle with ID 60 is 12.9 meters away at (-10.8, -7.1). A unknown object with ID 62 is 14.3 meters away at (-13.2, 5.3). A vehicle with ID 46 is 14.8 meters away at (3.5, 14.4). A vehicle with ID 50 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 70 is 19.3 meters away at (14.8, 12.3).

The vehicle with ID 63 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 47 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-3.2345521 -3.5781965] m/s.The unknown object with ID 62 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 5.6) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 70 is 4.7 meters away at (4.7, 0.5). A vehicle with ID 17 is 6.3 meters away at (-0.9, -6.2). A vehicle with ID 46 is 7.0 meters away at (-6.5, 2.6). A vehicle with ID 48 is 7.6 meters away at (-2.4, 7.2). A vehicle with ID 44 is 10.2 meters away at (8.9, 5.0). A vehicle with ID 47 is 11.2 meters away at (-10.9, -2.4). A vehicle with ID 51 is 12.1 meters away at (1.5, 12.0). A vehicle with ID 63 is 12.7 meters away at (-5.5, -11.4). A vehicle with ID 45 is 17.6 meters away at (13.8, 10.9). A vehicle with ID 52 is 18.6 meters away at (6.4, 17.5).

The vehicle with ID 70 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.7) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 45 is 5.1 meters away at (5.0, 0.7). A vehicle with ID 44 is 5.1 meters away at (0.1, -5.1). A vehicle with ID 51 is 7.4 meters away at (-7.1, 1.8). A vehicle with ID 52 is 7.7 meters away at (-2.3, 7.3). A vehicle with ID 70 is 10.4 meters away at (-4.0, -9.6). A vehicle with ID 48 is 11.4 meters away at (-11.0, -2.9). A vehicle with ID 53 is 12.3 meters away at (2.0, 12.1). A vehicle with ID 46 is 17.1 meters away at (-15.3, -7.6). A vehicle with ID 17 is 19.1 meters away at (-9.7, -16.4). A vehicle with ID 71 is 23.1 meters away at (17.3, 15.3).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [3.716084   0.57694906] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 2.7) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A vehicle with ID 53 is 6.5 meters away at (-4.6, 4.5). A vehicle with ID 45 is 6.9 meters away at (-1.5, -6.8). A vehicle with ID 52 is 8.9 meters away at (-8.9, -0.2). A vehicle with ID 44 is 14.2 meters away at (-6.4, -12.7). A vehicle with ID 51 is 14.9 meters away at (-13.7, -5.7). A vehicle with ID 71 is 19.4 meters away at (18.4, 6.1). A vehicle with ID 70 is 20.2 meters away at (-10.6, -17.2). A vehicle with ID 48 is 20.6 meters away at (-17.6, -10.6). A vehicle with ID 9 is 22.8 meters away at (19.5, 11.8). A vehicle with ID 46 is 26.6 meters away at (-21.9, -15.2).

The vehicle with ID 53 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ 4.443613  -2.2514482] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.6070747  2.318843 ] 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 (-8.8, 10.2) m/s. Its current heading (yaw) is 2.29 radians with an angular velocity of 2.29 rad/s.

The most relevant actors are: A vehicle with ID 14 is 10.2 meters away at (0.5, -10.2). A vehicle with ID 12 is 24.4 meters away at (10.6, -22.0). A vehicle with ID 13 is 35.3 meters away at (17.8, -30.5). A vehicle with ID 15 is 59.5 meters away at (33.8, -49.0). A vehicle with ID 16 is 67.0 meters away at (38.9, -54.6). A vehicle with ID 4 is 75.6 meters away at (-45.0, 60.8).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 10.2) m/s. Its current heading (yaw) is 2.27 radians with an angular velocity of 2.27 rad/s.

The most relevant actors are: A unknown object with ID 7 is 8.7 meters away at (8.3, 2.3). A vehicle with ID 14 is 35.1 meters away at (17.6, -30.4). A vehicle with ID 4 is 49.1 meters away at (-27.6, 40.6). A vehicle with ID 12 is 50.6 meters away at (27.8, -42.3). A vehicle with ID 13 is 61.6 meters away at (35.0, -50.7).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 10.3) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A unknown object with ID 3 is 20.7 meters away at (16.4, -12.6). A vehicle with ID 4 is 22.7 meters away at (-10.8, 20.0). A pedestrian with ID 8 is 40.8 meters away at (-18.6, 36.3). A vehicle with ID 14 is 61.6 meters away at (34.5, -51.0). A vehicle with ID 12 is 77.2 meters away at (44.7, -62.9).

The unknown object with ID 3 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 pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02723866 -0.00454607] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 10.4) m/s. Its current heading (yaw) is 2.20 radians with an angular velocity of 2.20 rad/s.

The most relevant actors are: A vehicle with ID 4 is 4.7 meters away at (4.7, -0.8). A pedestrian with ID 8 is 15.6 meters away at (-2.8, 15.4). A unknown object with ID 5 is 22.6 meters away at (-10.0, 20.3). A vehicle with ID 1 is 65.3 meters away at (-35.3, 55.0).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.121451   0.05951442] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.