The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -4.4) m/s. Its current heading (yaw) is -0.58 radians with an angular velocity of -0.58 rad/s.

The most relevant actors are: A vehicle with ID 59 is 13.5 meters away at (-7.5, -11.3). A vehicle with ID 58 is 18.6 meters away at (-15.4, -10.4). A vehicle with ID 63 is 20.5 meters away at (-8.7, -18.6). A pedestrian with ID 56 is 22.2 meters away at (-21.6, -4.9). A vehicle with ID 62 is 25.2 meters away at (-17.3, -18.3). A pedestrian with ID 57 is 32.0 meters away at (-13.6, 29.0). A pedestrian with ID 60 is 34.9 meters away at (-31.9, 14.2). A pedestrian with ID 61 is 36.0 meters away at (-32.8, 14.8). A vehicle with ID 37 is 43.3 meters away at (23.6, 36.3). A vehicle with ID 45 is 44.0 meters away at (31.7, 30.5).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.99606305 -0.68854487] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.8442742 1.0602111] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0267522  -0.72955817] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.0114844 -0.7104069] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -4.3) m/s. Its current heading (yaw) is -0.59 radians with an angular velocity of -0.59 rad/s.

The most relevant actors are: A vehicle with ID 59 is 20.8 meters away at (-20.7, -2.6). A vehicle with ID 63 is 24.3 meters away at (-22.0, -10.3). A pedestrian with ID 56 is 37.0 meters away at (-36.9, 2.8). A vehicle with ID 45 is 43.5 meters away at (18.6, 39.3). A vehicle with ID 65 is 45.7 meters away at (41.3, 19.5). A pedestrian with ID 57 is 47.3 meters away at (-25.3, 40.0). A pedestrian with ID 60 is 48.2 meters away at (-43.1, 21.6). A vehicle with ID 66 is 49.1 meters away at (46.2, 16.6). A pedestrian with ID 61 is 49.3 meters away at (-44.0, 22.2). A pedestrian with ID 4 is 66.5 meters away at (64.3, -17.2).

The vehicle with ID 59 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 pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0056779 -0.573284 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.80781984 1.1768516 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.0251395 -0.6772922] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.0192422 -0.7390913] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.81426924 -0.73343265] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.1) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A unknown object with ID 31 is 8.2 meters away at (1.9, 7.9). A pedestrian with ID 49 is 21.1 meters away at (-20.3, 5.7). A vehicle with ID 65 is 40.2 meters away at (28.9, 27.9). A vehicle with ID 66 is 42.1 meters away at (33.8, 25.1). A vehicle with ID 45 is 48.1 meters away at (6.1, 47.7). A pedestrian with ID 4 is 51.4 meters away at (50.3, -10.6). A pedestrian with ID 5 is 52.2 meters away at (50.9, -11.7). A vehicle with ID 48 is 53.7 meters away at (-2.1, 53.6). A pedestrian with ID 60 is 60.8 meters away at (-53.6, 28.8). A pedestrian with ID 61 is 62.0 meters away at (-54.5, 29.5).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.00266375  0.00176124] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.70935774 -0.87548715] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.69939977 -0.8172302 ] m/s.The vehicle with ID 48 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 [ 1.0178428 -0.6034704] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.9557629  -0.59361196] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.2) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A vehicle with ID 1 is 25.4 meters away at (9.1, -23.7). A vehicle with ID 8 is 29.4 meters away at (17.9, -23.3). A pedestrian with ID 4 is 38.7 meters away at (38.4, -4.9). A pedestrian with ID 5 is 39.1 meters away at (38.7, -5.8). A vehicle with ID 65 is 39.8 meters away at (18.2, 35.4). A vehicle with ID 66 is 40.0 meters away at (23.1, 32.6). A unknown object with ID 30 is 42.9 meters away at (6.1, 42.5). A vehicle with ID 52 is 53.2 meters away at (50.0, 18.1). A pedestrian with ID 21 is 54.8 meters away at (54.6, -4.2). A vehicle with ID 45 is 55.3 meters away at (-4.7, 55.2).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.9760684 2.2670283] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.69492936 -0.927769  ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.79869944 -0.9165672 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.46353978 -0.6714011 ] m/s.The vehicle with ID 45 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 (-1.0, 0.9) m/s. Its current heading (yaw) is 2.40 radians with an angular velocity of 2.40 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 6.7 meters away at (-4.7, -4.7). A pedestrian with ID 37 is 22.9 meters away at (-12.8, 19.0). A vehicle with ID 9 is 39.7 meters away at (-32.5, -22.8). A vehicle with ID 41 is 39.7 meters away at (-32.5, -22.8). A pedestrian with ID 3 is 43.1 meters away at (-37.1, 21.9). A cyclist with ID 40 is 45.4 meters away at (-36.7, 26.7). A vehicle with ID 42 is 47.7 meters away at (47.7, 0.5). A cyclist with ID 38 is 51.3 meters away at (-41.3, 30.3). A pedestrian with ID 43 is 52.2 meters away at (36.4, -37.4).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.0952832 -1.2909491] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.02840608 0.00156231] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.74054605  0.6201456 ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 2.1035357 -2.1086943] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 2.3986154 -2.1980057] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 1.2415195 -1.1162485] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 2.8) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 10.9 meters away at (1.8, -10.7). A pedestrian with ID 37 is 17.5 meters away at (-8.4, 15.3). A cyclist with ID 17 is 17.5 meters away at (-8.3, 15.4). A pedestrian with ID 10 is 28.6 meters away at (-27.3, -8.5). A cyclist with ID 40 is 34.2 meters away at (-28.3, 19.3). A unknown object with ID 18 is 36.9 meters away at (-34.9, -12.0). A vehicle with ID 9 is 38.6 meters away at (-28.3, -26.3). A pedestrian with ID 3 is 39.8 meters away at (-34.5, 19.9). A cyclist with ID 38 is 40.8 meters away at (-33.4, 23.4). A vehicle with ID 42 is 52.1 meters away at (52.0, -3.2).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2053059 -1.1457394] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.0156762  -0.01947232] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [-7.715803e-09  8.393978e-08] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.10624985 0.04702629] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 1.9580973 -1.8099213] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.8686471  0.715926 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 1.8593315 -1.7825963] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) 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 pedestrian with ID 37 is 7.9 meters away at (0.1, 7.9). A cyclist with ID 17 is 8.1 meters away at (0.1, 8.1). A cyclist with ID 40 is 18.5 meters away at (-16.4, 8.5). A pedestrian with ID 35 is 23.8 meters away at (12.7, -20.1). A pedestrian with ID 10 is 24.5 meters away at (-18.7, -15.8). A cyclist with ID 38 is 25.2 meters away at (-21.6, 13.0). A pedestrian with ID 3 is 31.1 meters away at (-27.7, 14.2). A unknown object with ID 18 is 32.8 meters away at (-26.4, -19.5). A pedestrian with ID 15 is 36.9 meters away at (20.6, -30.6). A vehicle with ID 9 is 39.1 meters away at (-19.8, -33.7).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00223323  0.00066643] m/s.The cyclist with ID 17 is traveling at a (x, y) velocity of [0.00400827 0.02032274] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 1.5302335 -1.5800933] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2314235 -1.0094715] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00857733 0.04347413] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 1.584999  -1.4928184] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.81356925  0.92956805] m/s.The unknown object with ID 18 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 [-0.44378594  0.70998585] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) 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 40 is 4.5 meters away at (-2.5, -3.8). A cyclist with ID 38 is 7.8 meters away at (-7.8, 0.5). A pedestrian with ID 37 is 11.0 meters away at (10.9, -1.7). A pedestrian with ID 3 is 19.7 meters away at (-18.7, 6.4). A pedestrian with ID 10 is 25.6 meters away at (-7.3, -24.6). A unknown object with ID 18 is 32.9 meters away at (-15.5, -29.0). A vehicle with ID 23 is 38.8 meters away at (-35.4, -15.9). A pedestrian with ID 35 is 40.9 meters away at (25.9, -31.6). A vehicle with ID 9 is 44.1 meters away at (-9.1, -43.1). A pedestrian with ID 15 is 49.0 meters away at (30.1, -38.7).

The cyclist with ID 40 is traveling at a (x, y) velocity of [ 1.4613115 -1.3243917] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [ 1.2063315 -1.4334412] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.02995007  0.00079246] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1070198   0.79309654] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.26432917 0.524102  ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.0737817  -0.82781225] m/s.The vehicle with ID 9 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 [-0.7790364  0.7665766] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.8) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A vehicle with ID 11 is 25.1 meters away at (-14.0, 20.8). A pedestrian with ID 5 is 25.3 meters away at (2.3, -25.2). A unknown object with ID 16 is 47.7 meters away at (29.4, -37.6). A vehicle with ID 14 is 49.4 meters away at (-11.3, 48.1). A vehicle with ID 15 is 54.4 meters away at (-13.0, 52.8). A vehicle with ID 8 is 60.1 meters away at (18.4, -57.2). A vehicle with ID 17 is 62.3 meters away at (-15.4, 60.3). A pedestrian with ID 13 is 70.7 meters away at (26.4, -65.6).

The vehicle with ID 11 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 [ 0.03196825 -0.03299948] 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 [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 8 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.50461555 -1.2382134 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.6) m/s. Its current heading (yaw) is -1.06 radians with an angular velocity of -1.06 rad/s.

The most relevant actors are: A unknown object with ID 1 is 28.1 meters away at (0.1, 28.1). A vehicle with ID 11 is 31.9 meters away at (-16.7, 27.1). A unknown object with ID 16 is 41.2 meters away at (26.7, -31.4). A vehicle with ID 8 is 53.3 meters away at (15.6, -50.9). A vehicle with ID 14 is 56.2 meters away at (-14.0, 54.5). A vehicle with ID 15 is 61.2 meters away at (-15.8, 59.1). A pedestrian with ID 13 is 66.7 meters away at (24.6, -62.0). A vehicle with ID 17 is 69.0 meters away at (-18.1, 66.6).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 14 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.5662601 -1.3134948] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -4.1) m/s. Its current heading (yaw) is -0.99 radians with an angular velocity of -0.99 rad/s.

The most relevant actors are: A unknown object with ID 6 is 37.8 meters away at (-11.8, 35.9). A unknown object with ID 3 is 39.2 meters away at (-12.3, 37.2). A vehicle with ID 11 is 41.0 meters away at (-21.9, 34.7). A vehicle with ID 8 is 44.6 meters away at (10.6, -43.3). A pedestrian with ID 13 is 60.6 meters away at (21.0, -56.9). A vehicle with ID 14 is 64.9 meters away at (-19.1, 62.0). A vehicle with ID 15 is 69.9 meters away at (-20.8, 66.7).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 13 is traveling at a (x, y) velocity of [ 0.7812186 -1.3116386] m/s.The vehicle with ID 14 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -4.4) m/s. Its current heading (yaw) is -1.11 radians with an angular velocity of -1.11 rad/s.

The most relevant actors are: A vehicle with ID 8 is 35.3 meters away at (5.6, -34.8). A vehicle with ID 11 is 50.9 meters away at (-26.9, 43.2). A pedestrian with ID 13 is 53.7 meters away at (17.7, -50.7).

The vehicle with ID 8 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 13 is traveling at a (x, y) velocity of [ 0.55698216 -1.4929353 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 2.6) 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 vehicle with ID 55 is 4.1 meters away at (-0.9, 4.0). A pedestrian with ID 54 is 6.3 meters away at (1.3, 6.2). A pedestrian with ID 52 is 6.6 meters away at (2.2, 6.2). A vehicle with ID 51 is 7.7 meters away at (7.6, 1.0). A vehicle with ID 58 is 10.0 meters away at (-7.5, 6.5). A vehicle with ID 50 is 14.2 meters away at (14.2, -1.2). A pedestrian with ID 60 is 15.6 meters away at (-14.9, -4.4). A vehicle with ID 59 is 16.4 meters away at (-13.9, 8.6). A vehicle with ID 62 is 23.6 meters away at (-20.8, 11.2). A unknown object with ID 56 is 25.6 meters away at (9.6, -23.7).

The vehicle with ID 55 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 [-0.01954261 -0.00797002] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.35291207  0.03332547] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.4120507  -0.44116208] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 (-5.6, 2.0) 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 vehicle with ID 59 is 4.1 meters away at (-0.8, 4.0). A vehicle with ID 58 is 5.8 meters away at (5.4, 1.9). A pedestrian with ID 60 is 9.9 meters away at (1.0, -9.9). A vehicle with ID 62 is 10.1 meters away at (-7.7, 6.5). A vehicle with ID 55 is 12.2 meters away at (12.1, -0.7). A pedestrian with ID 31 is 14.0 meters away at (14.0, 0.8). A vehicle with ID 53 is 14.2 meters away at (-14.1, -1.8). A pedestrian with ID 54 is 14.3 meters away at (14.2, 1.4). A pedestrian with ID 52 is 14.9 meters away at (14.9, 1.4). A vehicle with ID 51 is 21.2 meters away at (20.8, -3.8).

The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.2356143 -0.5931876] m/s.The vehicle with ID 62 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 pedestrian with ID 31 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 pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.04102084 -0.01575076] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.03956584 -0.00076591] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 1.0) 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 vehicle with ID 62 is 3.5 meters away at (0.5, 3.5). A vehicle with ID 59 is 7.4 meters away at (7.3, 1.1). A vehicle with ID 53 is 7.6 meters away at (-5.9, -4.8). A pedestrian with ID 13 is 13.0 meters away at (-10.3, 7.9). A vehicle with ID 58 is 13.7 meters away at (13.6, -1.1). A pedestrian with ID 60 is 18.2 meters away at (11.8, -13.9). A vehicle with ID 55 is 20.7 meters away at (20.4, -3.7). A pedestrian with ID 31 is 22.3 meters away at (22.2, -2.0). A pedestrian with ID 54 is 22.6 meters away at (22.5, -1.5). A pedestrian with ID 52 is 23.2 meters away at (23.2, -1.6).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.516885  -1.2739599] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.3597896 -0.4837413] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.06212964 0.15069756] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.0079092  0.00072387] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.00385138 0.00019414] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 0.5) m/s. Its current heading (yaw) is 2.77 radians with an angular velocity of 2.77 rad/s.

The most relevant actors are: A vehicle with ID 62 is 4.9 meters away at (4.4, 2.0). A vehicle with ID 53 is 6.6 meters away at (-1.9, -6.3). A pedestrian with ID 13 is 8.5 meters away at (-7.4, 4.0). A vehicle with ID 59 is 11.3 meters away at (11.3, -0.5). A vehicle with ID 58 is 17.8 meters away at (17.6, -2.6). A pedestrian with ID 60 is 24.8 meters away at (18.6, -16.4). A vehicle with ID 55 is 24.9 meters away at (24.4, -5.2). A pedestrian with ID 31 is 26.4 meters away at (26.2, -3.6). A pedestrian with ID 54 is 26.7 meters away at (26.6, -2.9). A pedestrian with ID 52 is 27.3 meters away at (27.1, -3.0).

The vehicle with ID 62 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.5718918 -1.2948065] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.405001  -0.5340527] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00369778 -0.00529497] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00103685 0.00160693] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [ 0.00943932 -0.03215213] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -0.4) m/s. Its current heading (yaw) is -0.50 radians with an angular velocity of -0.50 rad/s.

The most relevant actors are: A vehicle with ID 19 is 13.0 meters away at (-11.3, 6.5). A vehicle with ID 7 is 19.7 meters away at (16.9, -10.0). A vehicle with ID 57 is 25.0 meters away at (14.8, -20.2). A vehicle with ID 58 is 31.0 meters away at (13.0, -28.1). A vehicle with ID 59 is 33.8 meters away at (13.0, -31.3). A unknown object with ID 60 is 37.4 meters away at (20.5, 31.2). A vehicle with ID 62 is 38.3 meters away at (11.7, -36.5). A vehicle with ID 55 is 38.4 meters away at (28.8, -25.4). A pedestrian with ID 63 is 38.4 meters away at (36.3, -12.6). A vehicle with ID 64 is 43.3 meters away at (11.3, -41.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 3.1947467 -1.7744616] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.109418  -3.1039968] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.89164215  0.4761612 ] m/s.The vehicle with ID 64 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 (3.6, -2.1) 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 19 is 11.0 meters away at (-9.5, 5.6). A vehicle with ID 57 is 20.5 meters away at (10.5, -17.7). A vehicle with ID 58 is 27.0 meters away at (8.7, -25.6). A vehicle with ID 7 is 27.6 meters away at (23.6, -14.4). A vehicle with ID 59 is 30.1 meters away at (8.7, -28.8). A pedestrian with ID 63 is 31.7 meters away at (30.4, -9.1). A vehicle with ID 55 is 33.6 meters away at (24.4, -23.0). A vehicle with ID 62 is 34.8 meters away at (7.4, -34.0). A unknown object with ID 60 is 37.5 meters away at (16.4, 33.7). A vehicle with ID 64 is 39.9 meters away at (7.0, -39.3).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 2.5834079 -1.4728695] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.560991  -3.5303037] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.91911566  0.4574265 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.5) m/s. Its current heading (yaw) is -0.54 radians with an angular velocity of -0.54 rad/s.

The most relevant actors are: A vehicle with ID 57 is 11.9 meters away at (0.9, -11.8). A vehicle with ID 19 is 18.2 meters away at (-15.5, 9.4). A pedestrian with ID 63 is 19.2 meters away at (19.0, -2.5). A vehicle with ID 58 is 19.8 meters away at (-1.0, -19.8). A vehicle with ID 55 is 22.6 meters away at (14.7, -17.1). A vehicle with ID 59 is 23.0 meters away at (-0.8, -23.0). A vehicle with ID 62 is 28.3 meters away at (-2.1, -28.2). A vehicle with ID 7 is 29.6 meters away at (25.0, -15.7). A vehicle with ID 64 is 33.6 meters away at (-2.6, -33.5). A cyclist with ID 67 is 33.8 meters away at (19.1, 27.9).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.70758265 -0.38450223] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.6816327  0.4157278] m/s.The vehicle with ID 58 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.549158 -3.643518] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 67 is traveling at a (x, y) velocity of [-4.1796465  2.5772274] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -3.8) m/s. Its current heading (yaw) is -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A pedestrian with ID 63 is 8.1 meters away at (5.9, 5.5). A vehicle with ID 55 is 10.2 meters away at (2.7, -9.8). A vehicle with ID 57 is 11.8 meters away at (-11.0, -4.5). A vehicle with ID 58 is 17.9 meters away at (-12.9, -12.4). A vehicle with ID 59 is 20.1 meters away at (-12.9, -15.5). A vehicle with ID 62 is 25.1 meters away at (-14.2, -20.7). A vehicle with ID 7 is 28.3 meters away at (23.6, -15.6). A vehicle with ID 64 is 29.9 meters away at (-14.7, -26.0). A vehicle with ID 19 is 31.5 meters away at (-26.9, 16.4). A cyclist with ID 67 is 40.5 meters away at (-0.9, 40.5).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.61872876 -0.1810569 ] m/s.The vehicle with ID 55 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 5.414353  -3.8268533] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 1.1614639  -0.70740145] m/s.The cyclist with ID 67 is traveling at a (x, y) velocity of [-3.9892514  2.4423077] 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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A pedestrian with ID 80 is 4.3 meters away at (-0.6, 4.3). A vehicle with ID 74 is 5.1 meters away at (-1.1, 4.9). A vehicle with ID 79 is 5.6 meters away at (3.4, -4.4). A pedestrian with ID 90 is 7.0 meters away at (-3.3, 6.2). A vehicle with ID 82 is 7.2 meters away at (7.2, -0.3). A pedestrian with ID 89 is 8.1 meters away at (-3.1, 7.5). A unknown object with ID 93 is 8.4 meters away at (-7.9, -2.8). A pedestrian with ID 86 is 8.4 meters away at (-1.4, 8.3). A pedestrian with ID 91 is 8.6 meters away at (-3.9, 7.6). A vehicle with ID 83 is 9.4 meters away at (2.6, 9.0).

The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.00330139 -0.01273807] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.00121499 -0.0179285 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.0150988  0.00219019] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.01897445 -0.01463294] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 0.00153233 -0.02663053] m/s.The vehicle with ID 83 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 (-4.4, -5.1) 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 61 is 3.7 meters away at (-1.1, 3.5). A unknown object with ID 98 is 4.2 meters away at (-4.2, -0.3). A unknown object with ID 96 is 4.4 meters away at (-1.8, 4.0). A unknown object with ID 99 is 5.0 meters away at (-5.0, 0.4). A pedestrian with ID 94 is 6.4 meters away at (-5.3, 3.6). A unknown object with ID 93 is 7.1 meters away at (0.8, 7.0). A vehicle with ID 75 is 8.1 meters away at (1.1, -8.0). A pedestrian with ID 97 is 8.4 meters away at (-7.4, 3.9). A unknown object with ID 48 is 8.7 meters away at (7.1, -5.0). A vehicle with ID 70 is 9.5 meters away at (-8.6, -4.1).

The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.7826777 -1.5755377] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [0.64613736 1.1027292 ] m/s.The unknown object with ID 48 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 (-4.3, -4.9) 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 73 is 4.5 meters away at (-4.5, 0.9). A vehicle with ID 77 is 5.7 meters away at (4.4, -3.6). A vehicle with ID 70 is 5.8 meters away at (0.0, 5.8). A unknown object with ID 76 is 5.9 meters away at (1.7, -5.6). A pedestrian with ID 102 is 7.4 meters away at (0.9, -7.4). A pedestrian with ID 4 is 9.0 meters away at (1.5, -8.9). A vehicle with ID 75 is 9.8 meters away at (9.7, 1.9). A vehicle with ID 71 is 10.5 meters away at (-9.3, -4.9). A unknown object with ID 98 is 10.6 meters away at (4.5, 9.7). A pedestrian with ID 94 is 10.7 meters away at (2.6, 10.4).

The vehicle with ID 73 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.00709277 -0.00038651] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.0027558   0.00291264] m/s.The vehicle with ID 75 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 98 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 [-0.17739725 -1.4468616 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.2) 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 71 is 4.4 meters away at (-1.4, 4.2). A unknown object with ID 52 is 5.1 meters away at (4.4, -2.6). A vehicle with ID 72 is 5.5 meters away at (-5.5, -0.6). A pedestrian with ID 102 is 9.1 meters away at (8.9, 1.9). A pedestrian with ID 4 is 9.5 meters away at (9.5, 0.5). A unknown object with ID 76 is 10.4 meters away at (9.8, 3.6). A vehicle with ID 73 is 10.7 meters away at (3.6, 10.1). A vehicle with ID 77 is 13.6 meters away at (12.4, 5.6). A pedestrian with ID 51 is 16.1 meters away at (16.1, 1.0). A pedestrian with ID 65 is 16.5 meters away at (16.5, 1.3).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.00883049 -0.01309159] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00088319 -0.00951196] m/s.The unknown object with ID 76 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.09533324 0.02534647] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.00352179 0.02271506] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.5 meters away at (3.9, 2.2). A vehicle with ID 51 is 6.3 meters away at (-1.2, 6.1). A vehicle with ID 66 is 8.6 meters away at (8.4, -1.6). A vehicle with ID 9 is 8.7 meters away at (6.7, -5.6). A vehicle with ID 15 is 9.5 meters away at (-7.0, 6.4). A pedestrian with ID 58 is 11.5 meters away at (11.0, -3.3). A pedestrian with ID 81 is 12.2 meters away at (12.0, 2.4). A vehicle with ID 50 is 12.8 meters away at (-6.5, 11.1). A vehicle with ID 72 is 14.2 meters away at (13.0, -5.7). A vehicle with ID 25 is 15.8 meters away at (-12.3, 9.9).

The vehicle with ID 56 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 [ 0.38892177 -1.4161316 ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.0719254  -0.64762884] m/s.The vehicle with ID 50 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 25 is traveling at a (x, y) velocity of [-0.29019865  0.24764143] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.5) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.9 meters away at (4.7, 1.6). A vehicle with ID 51 is 5.6 meters away at (-0.5, 5.6). A vehicle with ID 15 is 8.8 meters away at (-6.5, 5.9). A vehicle with ID 9 is 9.2 meters away at (7.1, -5.9). A vehicle with ID 66 is 9.4 meters away at (9.2, -2.2). A vehicle with ID 50 is 12.0 meters away at (-5.8, 10.5). A pedestrian with ID 58 is 13.8 meters away at (12.1, -6.6). A pedestrian with ID 81 is 14.4 meters away at (14.4, 0.4). A vehicle with ID 72 is 15.2 meters away at (13.8, -6.3). A vehicle with ID 26 is 16.9 meters away at (13.0, -10.9).

The vehicle with ID 56 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 15 is traveling at a (x, y) velocity of [-0.3821957  0.30898  ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.29607984  0.25731713] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.8017996 -1.0124755] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.8601933  -0.60899156] m/s.The vehicle with ID 72 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.3) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 51 is 4.2 meters away at (1.5, 3.9). A vehicle with ID 56 is 6.7 meters away at (6.7, -0.1). A vehicle with ID 50 is 9.6 meters away at (-3.8, 8.8). A vehicle with ID 9 is 9.8 meters away at (7.5, -6.3). A vehicle with ID 15 is 10.2 meters away at (-7.6, 6.8). A vehicle with ID 66 is 11.8 meters away at (11.2, -3.9). A vehicle with ID 49 is 15.7 meters away at (-8.9, 12.9). A vehicle with ID 72 is 17.8 meters away at (15.9, -8.1). A pedestrian with ID 58 is 17.9 meters away at (15.3, -9.2). A pedestrian with ID 81 is 18.6 meters away at (18.4, -2.7).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [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 9 is traveling at a (x, y) velocity of [-1.5402124  1.2733512] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.7246957  2.145583 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 [0.04873441 0.13203473] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.95330614 -0.72291285] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.5) 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 50 is 5.1 meters away at (0.8, 5.0). A vehicle with ID 51 is 6.0 meters away at (6.0, 0.2). A vehicle with ID 90 is 8.1 meters away at (-1.7, -8.0). A vehicle with ID 49 is 10.1 meters away at (-4.3, 9.1). A vehicle with ID 9 is 10.2 meters away at (7.8, -6.5). A vehicle with ID 56 is 12.0 meters away at (11.3, -3.9). A vehicle with ID 15 is 12.7 meters away at (-9.6, 8.4). A vehicle with ID 66 is 17.6 meters away at (15.8, -7.8). A vehicle with ID 92 is 20.0 meters away at (-19.6, 3.8). A vehicle with ID 26 is 21.4 meters away at (16.4, -13.8).

The vehicle with ID 50 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 90 is traveling at a (x, y) velocity of [ 9.272238  -7.5037436] m/s.The vehicle with ID 49 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 [-2.1118834  1.7803593] m/s.The vehicle with ID 56 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 [-3.3996806  2.962911 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 8.025101 -6.507209] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.7053468  2.3647194] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.8) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 22.9 meters away at (-22.6, 3.7). A vehicle with ID 15 is 33.9 meters away at (-31.5, 12.6). A pedestrian with ID 13 is 41.2 meters away at (-17.7, -37.2). A vehicle with ID 17 is 79.5 meters away at (36.3, -70.8).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.36262038 -0.21557605] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.6314554  -0.86343575] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-4.725398e-03  8.119541e-06] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.5) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 12.1 meters away at (-11.9, -2.2). A vehicle with ID 15 is 13.6 meters away at (-13.2, 3.4). A unknown object with ID 6 is 34.7 meters away at (32.7, -11.7). A pedestrian with ID 13 is 43.2 meters away at (-8.3, -42.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.632163   -0.38797775] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.4321175 -2.8635006] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.03162528 -0.00517445] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 2.2) m/s. Its current heading (yaw) is 2.68 radians with an angular velocity of 2.68 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 8.1 meters away at (-2.2, -7.8). A vehicle with ID 15 is 12.0 meters away at (8.7, -8.3).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.43195933 -0.44152316] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 7.3248353 -3.948257 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 1.8) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 14.8 meters away at (7.3, -12.9). A vehicle with ID 15 is 38.9 meters away at (32.7, -21.2).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.58011496 -0.2546573 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 8.089039  -4.7382913] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 8.1) m/s. Its current heading (yaw) is 2.00 radians with an angular velocity of 2.00 rad/s.

The most relevant actors are: A unknown object with ID 9 is 59.8 meters away at (-15.3, 57.8). A vehicle with ID 2 is 73.9 meters away at (-20.9, 70.9). A unknown object with ID 6 is 79.9 meters away at (-75.8, -25.3).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 7.6) m/s. Its current heading (yaw) is 1.87 radians with an angular velocity of 1.87 rad/s.

The most relevant actors are: A vehicle with ID 2 is 57.3 meters away at (-14.6, 55.4).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 7.6) m/s. Its current heading (yaw) is 1.89 radians with an angular velocity of 1.89 rad/s.

The most relevant actors are: A vehicle with ID 2 is 41.3 meters away at (-9.7, 40.2).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 7.7) m/s. Its current heading (yaw) is 1.85 radians with an angular velocity of 1.85 rad/s.

The most relevant actors are: A vehicle with ID 2 is 25.5 meters away at (-4.1, 25.1). A vehicle with ID 1 is 38.8 meters away at (-7.4, 38.1).

The vehicle with ID 2 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -2.1) 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 62 is 4.2 meters away at (-3.6, -2.2). A vehicle with ID 67 is 4.6 meters away at (2.1, -4.1). A vehicle with ID 59 is 6.7 meters away at (-1.4, 6.5). A vehicle with ID 58 is 7.0 meters away at (5.5, 4.4). A unknown object with ID 66 is 7.7 meters away at (-1.6, -7.6). A pedestrian with ID 68 is 8.3 meters away at (3.7, 7.4). A vehicle with ID 71 is 14.5 meters away at (6.4, -13.0). A vehicle with ID 60 is 14.8 meters away at (-14.7, 1.8). A vehicle with ID 56 is 17.1 meters away at (14.8, -8.5). A vehicle with ID 24 is 25.0 meters away at (22.5, -10.8).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-2.8054786  1.2005167] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.2) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A vehicle with ID 56 is 4.6 meters away at (2.0, -4.1). A vehicle with ID 89 is 4.8 meters away at (-2.6, 4.1). A vehicle with ID 67 is 10.5 meters away at (-10.5, 0.2). A vehicle with ID 71 is 10.6 meters away at (-6.2, -8.6). A vehicle with ID 58 is 11.2 meters away at (-7.1, 8.7). A vehicle with ID 24 is 11.8 meters away at (9.8, -6.5). A pedestrian with ID 43 is 14.3 meters away at (10.6, -9.7). A unknown object with ID 66 is 14.7 meters away at (-14.3, -3.2). A vehicle with ID 62 is 16.5 meters away at (-16.3, 2.2). A vehicle with ID 59 is 17.7 meters away at (-14.1, 10.8).

The vehicle with ID 56 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 [-7.612207   2.5365005] 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 vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.67409664  0.2381528 ] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -2.1) 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 vehicle with ID 24 is 3.4 meters away at (-2.6, -2.2). A pedestrian with ID 43 is 5.7 meters away at (-2.0, -5.4). A pedestrian with ID 35 is 8.5 meters away at (1.5, -8.3). A vehicle with ID 56 is 10.6 meters away at (-10.6, 0.2). A vehicle with ID 14 is 15.6 meters away at (6.6, 14.2). A vehicle with ID 25 is 16.9 meters away at (14.6, -8.5). A pedestrian with ID 5 is 17.6 meters away at (13.0, -11.9). A vehicle with ID 15 is 18.3 meters away at (7.0, 16.9). A vehicle with ID 16 is 21.1 meters away at (8.3, 19.4). A vehicle with ID 88 is 22.3 meters away at (19.3, 11.3).

The vehicle with ID 24 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 [0.02380628 0.02936167] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.00893435 -0.00399172] m/s.The vehicle with ID 56 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 25 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 [ 1.4132872  -0.52501255] 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 88 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, -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 25 is 5.2 meters away at (2.8, -4.4). A pedestrian with ID 5 is 9.3 meters away at (3.7, -8.5). A pedestrian with ID 35 is 11.2 meters away at (-10.3, -4.2). A vehicle with ID 55 is 11.2 meters away at (11.0, 2.3). A pedestrian with ID 42 is 13.3 meters away at (-13.3, -0.6). A pedestrian with ID 43 is 13.7 meters away at (-13.6, -1.3). A pedestrian with ID 38 is 14.4 meters away at (-14.4, -0.3). A pedestrian with ID 26 is 14.4 meters away at (-14.4, -1.0). A vehicle with ID 24 is 14.5 meters away at (-14.4, 1.9). A vehicle with ID 57 is 16.0 meters away at (16.0, 0.4).

The vehicle with ID 25 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 [ 1.4030468  -0.46657547] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01869212 0.00827371] m/s.The vehicle with ID 55 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 [0.00844283 0.01251616] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00099712  0.00216515] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.01332541 0.00103181] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.02310133 0.00763202] m/s.The vehicle with ID 24 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 8.8) m/s. Its current heading (yaw) is 2.22 radians with an angular velocity of 2.22 rad/s.

The most relevant actors are: A vehicle with ID 16 is 6.7 meters away at (-0.5, 6.7). A vehicle with ID 15 is 8.9 meters away at (-0.5, -8.9). A vehicle with ID 17 is 11.4 meters away at (-10.5, 4.6). A unknown object with ID 7 is 14.6 meters away at (-5.9, 13.3). A vehicle with ID 14 is 15.7 meters away at (12.0, -10.2). A pedestrian with ID 3 is 16.5 meters away at (-5.5, 15.5). A vehicle with ID 19 is 18.4 meters away at (-14.8, 10.9). A vehicle with ID 20 is 20.2 meters away at (-8.8, 18.2). A pedestrian with ID 5 is 20.9 meters away at (-7.2, 19.6). A pedestrian with ID 6 is 21.5 meters away at (-7.9, 20.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.00500218 -0.00307822] m/s.The vehicle with ID 19 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 pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.04991542 -0.37583184] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.07749134 -0.17210883] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 9.2) m/s. Its current heading (yaw) is 2.19 radians with an angular velocity of 2.19 rad/s.

The most relevant actors are: A vehicle with ID 20 is 4.3 meters away at (4.3, 0.1). A pedestrian with ID 6 is 5.6 meters away at (5.3, 1.8). A pedestrian with ID 8 is 6.7 meters away at (5.7, 3.5). A vehicle with ID 19 is 7.3 meters away at (-1.8, -7.1). A pedestrian with ID 12 is 8.3 meters away at (8.2, 1.4). A unknown object with ID 7 is 8.5 meters away at (7.1, -4.7). A pedestrian with ID 9 is 9.0 meters away at (8.7, -2.6). A vehicle with ID 17 is 13.6 meters away at (2.5, -13.4). A vehicle with ID 16 is 16.8 meters away at (12.4, -11.3). A vehicle with ID 23 is 23.8 meters away at (-17.9, 15.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00425209 -0.0604861 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.19436939 -0.76055956] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0608255  -0.14322847] m/s.The unknown object with ID 7 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 [-0.2410012  -0.35076028] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 9.5) m/s. Its current heading (yaw) is 2.18 radians with an angular velocity of 2.18 rad/s.

The most relevant actors are: A vehicle with ID 23 is 5.7 meters away at (-4.9, -2.9). A pedestrian with ID 6 is 25.2 meters away at (18.2, -17.4). A vehicle with ID 20 is 25.4 meters away at (17.3, -18.6). A pedestrian with ID 8 is 25.5 meters away at (19.5, -16.5). A pedestrian with ID 12 is 27.3 meters away at (21.2, -17.2). A vehicle with ID 19 is 28.0 meters away at (11.2, -25.7). A vehicle with ID 17 is 35.5 meters away at (15.6, -32.0). A vehicle with ID 16 is 39.3 meters away at (25.3, -30.0). A vehicle with ID 2 is 45.4 meters away at (-30.5, 33.7). A vehicle with ID 15 is 52.4 meters away at (25.8, -45.6).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00389968 0.01953454] m/s.The vehicle with ID 20 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 [ 0.2686836  -0.59058535] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.07544472  0.01649035] m/s.The vehicle with ID 19 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 16 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 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 (-6.5, 9.1) m/s. Its current heading (yaw) is 2.19 radians with an angular velocity of 2.19 rad/s.

The most relevant actors are: A unknown object with ID 11 is 8.3 meters away at (-3.1, -7.7). A vehicle with ID 2 is 22.9 meters away at (-17.4, 14.9). A vehicle with ID 23 is 23.0 meters away at (8.1, -21.5). A pedestrian with ID 6 is 47.4 meters away at (31.1, -35.9). A vehicle with ID 20 is 47.9 meters away at (30.2, -37.2). A pedestrian with ID 8 is 48.4 meters away at (32.5, -35.9). A vehicle with ID 19 is 50.6 meters away at (24.2, -44.4). A vehicle with ID 17 is 58.3 meters away at (28.7, -50.7). A vehicle with ID 16 is 62.1 meters away at (38.5, -48.8).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.16561073 -0.00121023] m/s.The vehicle with ID 20 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 [-0.10807909 -0.26642022] m/s.The vehicle with ID 19 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 16 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 (7.0, 0.4) m/s. Its current heading (yaw) is 0.06 radians with an angular velocity of 0.06 rad/s.

The most relevant actors are: A unknown object with ID 35 is 10.3 meters away at (5.6, 8.7). A unknown object with ID 34 is 11.0 meters away at (4.7, 10.0). A unknown object with ID 36 is 14.1 meters away at (2.5, 13.9). A unknown object with ID 40 is 15.8 meters away at (9.5, 12.7). A unknown object with ID 37 is 15.9 meters away at (3.2, 15.6). A unknown object with ID 42 is 16.2 meters away at (11.0, 11.9). A unknown object with ID 39 is 16.3 meters away at (8.4, 14.0). A unknown object with ID 38 is 17.1 meters away at (4.2, 16.6). A unknown object with ID 43 is 17.4 meters away at (13.0, 11.5). A unknown object with ID 44 is 21.6 meters away at (7.9, 20.1).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 1.3) m/s. Its current heading (yaw) is 0.19 radians with an angular velocity of 0.19 rad/s.

The most relevant actors are: A unknown object with ID 43 is 9.7 meters away at (-1.0, 9.7). A unknown object with ID 42 is 10.5 meters away at (-3.0, 10.1). A unknown object with ID 35 is 10.9 meters away at (-8.4, 6.9). A unknown object with ID 40 is 11.7 meters away at (-4.5, 10.9). A unknown object with ID 34 is 12.4 meters away at (-9.2, 8.2). A unknown object with ID 39 is 13.4 meters away at (-5.6, 12.2). A unknown object with ID 25 is 13.8 meters away at (12.2, -6.6). A unknown object with ID 37 is 17.5 meters away at (-10.8, 13.8). A unknown object with ID 38 is 17.8 meters away at (-9.8, 14.9). A unknown object with ID 44 is 19.3 meters away at (-6.1, 18.3).

The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, 1.9) m/s. Its current heading (yaw) is 0.30 radians with an angular velocity of 0.30 rad/s.

The most relevant actors are: A vehicle with ID 23 is 5.3 meters away at (5.2, -1.2). A unknown object with ID 25 is 9.7 meters away at (-0.4, -9.7). A unknown object with ID 12 is 13.5 meters away at (11.1, -7.7). A unknown object with ID 16 is 13.8 meters away at (10.9, -8.4). A unknown object with ID 43 is 15.0 meters away at (-13.5, 6.6). A unknown object with ID 11 is 16.2 meters away at (2.3, -16.0). A unknown object with ID 42 is 17.0 meters away at (-15.5, 7.0). A unknown object with ID 40 is 18.7 meters away at (-17.0, 7.8). A unknown object with ID 39 is 20.3 meters away at (-18.1, 9.1). A unknown object with ID 35 is 21.3 meters away at (-20.9, 3.8).

The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.1740394 -2.5874164] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 2.7) m/s. Its current heading (yaw) is 0.44 radians with an angular velocity of 0.44 rad/s.

The most relevant actors are: A unknown object with ID 12 is 12.1 meters away at (-0.7, -12.1). A unknown object with ID 17 is 20.8 meters away at (-9.1, -18.7). A unknown object with ID 11 is 22.7 meters away at (-9.5, -20.6). A vehicle with ID 23 is 23.5 meters away at (-21.5, -9.5). A unknown object with ID 43 is 25.4 meters away at (-25.3, 2.2). A unknown object with ID 42 is 27.4 meters away at (-27.3, 2.7). A pedestrian with ID 45 is 28.9 meters away at (-6.8, -28.1). A unknown object with ID 40 is 29.0 meters away at (-28.8, 3.4). A vehicle with ID 26 is 30.4 meters away at (-29.4, -7.7). A vehicle with ID 24 is 30.5 meters away at (-29.5, -7.7).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.6515107 -1.4901474] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 [-0.49840575 -1.3421046 ] m/s.The unknown object with ID 40 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 [5.785323  0.8517662] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [5.8980117 0.8810521] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.3) m/s. Its current heading (yaw) is 2.53 radians with an angular velocity of 2.53 rad/s.

The most relevant actors are: A vehicle with ID 83 is 13.9 meters away at (-13.3, 4.0). A unknown object with ID 78 is 18.7 meters away at (6.7, -17.5). A vehicle with ID 75 is 21.8 meters away at (13.2, -17.4). A unknown object with ID 82 is 21.9 meters away at (-13.5, 17.2). A unknown object with ID 85 is 25.5 meters away at (-17.1, 19.0). A unknown object with ID 45 is 25.7 meters away at (-2.0, -25.6). A vehicle with ID 65 is 26.2 meters away at (-0.4, 26.2). A vehicle with ID 77 is 26.8 meters away at (-26.4, -4.6). A vehicle with ID 29 is 29.0 meters away at (-23.6, -16.8). A vehicle with ID 79 is 30.9 meters away at (-29.8, -8.4).

The vehicle with ID 83 is traveling at a (x, y) velocity of [ 4.5292172 -3.972359 ] m/s.The unknown object with ID 78 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 [ 5.5790334 -4.7039714] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 (-3.6, 2.9) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 83 is 10.5 meters away at (3.5, -9.9). A unknown object with ID 82 is 15.1 meters away at (-7.9, 12.9). A unknown object with ID 85 is 18.6 meters away at (-11.4, 14.6). A vehicle with ID 77 is 22.6 meters away at (-20.8, -8.9). A vehicle with ID 65 is 22.9 meters away at (5.4, 22.2). A unknown object with ID 20 is 26.6 meters away at (-24.7, 9.9). A vehicle with ID 79 is 27.3 meters away at (-24.1, -12.7). A vehicle with ID 29 is 27.8 meters away at (-18.1, -21.1). A pedestrian with ID 51 is 28.2 meters away at (13.3, 24.9). A pedestrian with ID 41 is 28.3 meters away at (12.2, 25.5).

The vehicle with ID 83 is traveling at a (x, y) velocity of [ 6.481866 -5.347438] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 65 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.7168598  -0.76055086] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6453955  -0.79778403] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 4.0) 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 unknown object with ID 82 is 6.0 meters away at (0.3, 6.0). A unknown object with ID 43 is 6.7 meters away at (-1.1, 6.6). A unknown object with ID 85 is 8.3 meters away at (-3.2, 7.7). A unknown object with ID 20 is 16.8 meters away at (-16.5, 2.9). A vehicle with ID 77 is 20.2 meters away at (-12.6, -15.8). A unknown object with ID 37 is 21.3 meters away at (-13.5, 16.5). A vehicle with ID 27 is 22.6 meters away at (-19.8, 10.9). A vehicle with ID 79 is 25.3 meters away at (-16.0, -19.6). A pedestrian with ID 41 is 25.8 meters away at (19.3, 17.1). A vehicle with ID 68 is 25.9 meters away at (21.8, 14.1).

The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 5.0678  -4.45267] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.5713741 -0.7910205] m/s.The vehicle with ID 68 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 (-5.2, 4.4) 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 27 is 4.8 meters away at (-1.9, -4.4). A unknown object with ID 85 is 6.8 meters away at (6.8, -0.6). A unknown object with ID 20 is 8.4 meters away at (-6.4, -5.4). A unknown object with ID 37 is 8.8 meters away at (-3.5, 8.1). A unknown object with ID 16 is 15.7 meters away at (-15.5, 2.3). A vehicle with ID 22 is 17.9 meters away at (-16.1, 7.8). A unknown object with ID 13 is 22.5 meters away at (-21.5, 6.6). A unknown object with ID 12 is 22.6 meters away at (-14.4, 17.4). A vehicle with ID 77 is 24.2 meters away at (-2.6, -24.0). A pedestrian with ID 14 is 25.0 meters away at (-24.5, 4.9).

The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.5960512 -2.2775278] m/s.The unknown object with ID 85 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 37 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 22 is traveling at a (x, y) velocity of [ 5.489034  -4.7998824] 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 12 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 14 is traveling at a (x, y) velocity of [-0.02646194 -0.00215246] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.2) 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 pedestrian with ID 21 is 5.9 meters away at (5.4, 2.3). A vehicle with ID 75 is 6.0 meters away at (5.9, -0.8). A vehicle with ID 78 is 9.3 meters away at (0.9, -9.2). A vehicle with ID 79 is 10.8 meters away at (9.8, -4.6). A vehicle with ID 80 is 14.4 meters away at (5.3, -13.4). A pedestrian with ID 81 is 14.5 meters away at (14.5, -0.8). A vehicle with ID 82 is 16.1 meters away at (13.9, -8.3). A vehicle with ID 83 is 20.1 meters away at (9.9, -17.5). A vehicle with ID 77 is 20.9 meters away at (-2.7, 20.8). A unknown object with ID 85 is 21.4 meters away at (-11.4, 18.1).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.72965604  0.6296788 ] m/s.The vehicle with ID 75 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.03577326 -0.03600967] m/s.The vehicle with ID 82 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 vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 4.4) m/s. Its current heading (yaw) is 1.74 radians with an angular velocity of 1.74 rad/s.

The most relevant actors are: A pedestrian with ID 21 is 7.4 meters away at (7.2, -1.8). A vehicle with ID 75 is 11.7 meters away at (9.7, -6.5). A unknown object with ID 85 is 14.5 meters away at (-7.8, 12.2). A vehicle with ID 77 is 15.1 meters away at (1.0, 15.1). A unknown object with ID 45 is 15.1 meters away at (-7.9, 12.8). A vehicle with ID 78 is 15.6 meters away at (4.7, -14.9). A vehicle with ID 79 is 17.1 meters away at (13.7, -10.3). A pedestrian with ID 20 is 18.9 meters away at (13.9, 12.8). A pedestrian with ID 81 is 19.4 meters away at (18.2, -6.6). A vehicle with ID 76 is 19.6 meters away at (4.4, 19.1).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.91904676  0.8402223 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 unknown object with ID 45 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 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.78810996 -1.128942  ] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.00481992 -0.01414491] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 3.9) m/s. Its current heading (yaw) is 0.79 radians with an angular velocity of 0.79 rad/s.

The most relevant actors are: A vehicle with ID 77 is 6.8 meters away at (-2.5, 6.3). A pedestrian with ID 20 is 8.7 meters away at (8.6, 1.6). A pedestrian with ID 21 is 8.9 meters away at (2.3, -8.6). A vehicle with ID 76 is 10.4 meters away at (1.0, 10.3). A unknown object with ID 85 is 11.8 meters away at (-11.2, 3.7). A vehicle with ID 19 is 15.8 meters away at (8.4, 13.4). A vehicle with ID 74 is 15.8 meters away at (5.2, 14.9). A vehicle with ID 75 is 16.5 meters away at (6.1, -15.3). A vehicle with ID 50 is 17.4 meters away at (-1.9, 17.3). A unknown object with ID 93 is 20.4 meters away at (-17.5, 10.5).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.0088881 -1.2871284] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.8337572   0.98580366] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 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 [-4.0748773 -4.554551 ] m/s.The vehicle with ID 74 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.0) m/s. Its current heading (yaw) is 0.82 radians with an angular velocity of 0.82 rad/s.

The most relevant actors are: A vehicle with ID 74 is 7.1 meters away at (-3.3, 6.3). A vehicle with ID 19 is 7.5 meters away at (-6.9, -2.8). A vehicle with ID 76 is 7.7 meters away at (-7.5, 1.7). A pedestrian with ID 20 is 9.6 meters away at (-2.1, -9.4). A vehicle with ID 73 is 10.5 meters away at (0.7, 10.5). A vehicle with ID 77 is 11.2 meters away at (-11.0, -2.3). A vehicle with ID 50 is 13.4 meters away at (-10.3, 8.6). A vehicle with ID 72 is 15.3 meters away at (4.5, 14.7). A pedestrian with ID 21 is 17.2 meters away at (-8.0, -15.2). A vehicle with ID 71 is 20.6 meters away at (8.0, 19.0).

The vehicle with ID 74 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 [-2.6735246 -2.8229942] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.0279388 -1.1524173] m/s.The vehicle with ID 73 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 50 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 21 is traveling at a (x, y) velocity of [-0.9290216  1.000148 ] m/s.The vehicle with ID 71 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 (-8.5, 10.7) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 15 is 3.8 meters away at (-3.8, -0.6). A vehicle with ID 3 is 32.1 meters away at (-22.5, 22.9). A vehicle with ID 12 is 38.3 meters away at (21.1, -32.0). A vehicle with ID 2 is 44.2 meters away at (-25.5, 36.1). A vehicle with ID 11 is 45.1 meters away at (-32.3, 31.5). A vehicle with ID 13 is 53.9 meters away at (30.3, -44.6).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 5.9084945 -7.5385585] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.770676 -8.454781] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.481927 -3.467663] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.948425 12.390598] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [  8.304225 -10.996766] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.19072188 -0.2606838 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 11.0) 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 11 is 8.2 meters away at (-0.9, -8.1). A vehicle with ID 3 is 16.2 meters away at (7.2, -14.5). A vehicle with ID 15 is 43.5 meters away at (24.3, -36.1). A vehicle with ID 2 is 47.3 meters away at (-27.4, 38.5). A vehicle with ID 12 is 72.3 meters away at (42.1, -58.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.47211   -7.3274007] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.747216 -7.229127] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.602795 -5.969845] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.452621 11.935937] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.1321515 -1.5283936] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, 11.3) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A vehicle with ID 5 is 33.0 meters away at (-23.2, 23.4). A vehicle with ID 2 is 48.5 meters away at (-28.2, 39.5). A vehicle with ID 11 is 50.6 meters away at (28.2, -42.0). A vehicle with ID 3 is 61.2 meters away at (35.4, -49.9). A vehicle with ID 4 is 73.3 meters away at (-48.4, 55.0). A unknown object with ID 1 is 77.3 meters away at (-56.5, 52.7).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 10.094536 -12.627327] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.086269  11.3957405] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 4.659529  -5.0367684] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.641877  -6.0335107] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 10.089847 -12.586282] m/s.The unknown object with ID 1 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 (-9.3, 11.7) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A vehicle with ID 4 is 12.3 meters away at (-10.1, 7.1). A vehicle with ID 5 is 27.0 meters away at (14.0, -23.1). A vehicle with ID 2 is 47.7 meters away at (-27.6, 38.9). A unknown object with ID 1 is 48.5 meters away at (-38.3, 29.9). A vehicle with ID 8 is 52.5 meters away at (-37.1, 37.2).

The vehicle with ID 4 is traveling at a (x, y) velocity of [  9.898693 -12.383144] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [  8.561048 -10.631197] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-8.798529 10.897499] m/s.The unknown object with ID 1 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 [  9.177604 -11.680355] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.4) m/s. Its current heading (yaw) is -2.18 radians with an angular velocity of -2.18 rad/s.

The most relevant actors are: A vehicle with ID 23 is 10.0 meters away at (-2.5, -9.7). A unknown object with ID 24 is 15.8 meters away at (13.3, 8.5). A unknown object with ID 19 is 16.3 meters away at (13.9, 8.6). A unknown object with ID 13 is 26.4 meters away at (-26.4, 0.8). A unknown object with ID 7 is 41.3 meters away at (-5.0, 41.0). A pedestrian with ID 31 is 46.7 meters away at (3.3, 46.5). A pedestrian with ID 32 is 47.4 meters away at (3.9, 47.3). A pedestrian with ID 33 is 47.7 meters away at (2.6, 47.6). A vehicle with ID 26 is 47.8 meters away at (-44.7, 16.9). A unknown object with ID 28 is 61.8 meters away at (-20.6, 58.3).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.11881   -0.5955842] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.007142  -0.7239806] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.9753595  -0.71806717] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.3) m/s. Its current heading (yaw) is -2.13 radians with an angular velocity of -2.13 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.7 meters away at (1.9, -3.2). A unknown object with ID 9 is 23.1 meters away at (17.7, 14.9). A unknown object with ID 13 is 23.2 meters away at (-22.0, 7.4). A unknown object with ID 24 is 23.3 meters away at (17.7, 15.2). A vehicle with ID 26 is 46.7 meters away at (-40.2, 23.7). A unknown object with ID 7 is 47.6 meters away at (-0.5, 47.6). A pedestrian with ID 31 is 52.6 meters away at (9.8, 51.7). A pedestrian with ID 32 is 53.3 meters away at (10.3, 52.3). A pedestrian with ID 33 is 53.5 meters away at (9.0, 52.7). A unknown object with ID 21 is 54.2 meters away at (-45.1, 30.2).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0427638 -0.8330735] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0072244  -0.82011366] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 1.0716347 -0.7694137] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -2.9) m/s. Its current heading (yaw) is -2.05 radians with an angular velocity of -2.05 rad/s.

The most relevant actors are: A vehicle with ID 23 is 6.2 meters away at (5.4, 3.0). A pedestrian with ID 11 is 6.6 meters away at (6.2, 2.1). A vehicle with ID 26 is 47.3 meters away at (-36.7, 29.9). A unknown object with ID 7 is 53.9 meters away at (3.0, 53.8). A unknown object with ID 21 is 55.2 meters away at (-41.5, 36.4). A unknown object with ID 6 is 57.1 meters away at (-42.7, 37.9). A pedestrian with ID 31 is 58.1 meters away at (15.2, 56.0). A unknown object with ID 16 is 58.4 meters away at (-43.4, 39.0). A cyclist with ID 1 is 58.4 meters away at (-31.2, -49.4). A unknown object with ID 17 is 58.8 meters away at (-44.4, 38.5).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.03133135 0.40492246] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9083642 -0.8448335] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [2.3157258 1.7512277] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -2.1) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A unknown object with ID 20 is 2.7 meters away at (-2.7, -0.5). A unknown object with ID 15 is 8.4 meters away at (-8.0, 2.7). A vehicle with ID 23 is 11.2 meters away at (7.9, 7.9). A pedestrian with ID 11 is 12.5 meters away at (9.4, 8.2). A cyclist with ID 1 is 47.4 meters away at (-24.3, -40.7). A vehicle with ID 26 is 48.7 meters away at (-34.1, 34.8). A unknown object with ID 7 is 59.0 meters away at (5.5, 58.8). A pedestrian with ID 31 is 62.6 meters away at (19.6, 59.4). A pedestrian with ID 32 is 63.3 meters away at (20.1, 60.0). A pedestrian with ID 33 is 63.5 meters away at (18.4, 60.8).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.5020439 0.7851771] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [2.2637029 1.9805423] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.8505992 -0.7677906] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.90382427 -0.8299199 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.7585503  -0.82531774] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 1.3) 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 vehicle with ID 12 is 31.1 meters away at (-25.7, 17.4). A vehicle with ID 10 is 34.5 meters away at (-32.0, 12.9). A vehicle with ID 7 is 38.7 meters away at (-34.7, 17.1). A vehicle with ID 8 is 53.5 meters away at (-40.4, 35.1). A vehicle with ID 13 is 53.6 meters away at (-37.2, 38.6).

The vehicle with ID 12 is traveling at a (x, y) velocity of [3.2448235 1.2421877] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.4425333 2.77865  ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [2.0919306 5.7688966] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4320984  3.9079282] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.2) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A vehicle with ID 12 is 23.5 meters away at (-16.5, 16.7). A vehicle with ID 10 is 29.1 meters away at (-24.2, 16.2). A vehicle with ID 7 is 42.7 meters away at (-33.0, 27.1). A vehicle with ID 13 is 51.2 meters away at (-35.3, 37.1). A vehicle with ID 8 is 64.3 meters away at (-48.8, 41.9).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.1812515 -0.5873947] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [3.4409816 1.5779681] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.7568264  5.919011 ] m/s.The vehicle with ID 13 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 [-6.073257   4.9280367] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 12 is 15.3 meters away at (-7.4, 13.4). A vehicle with ID 10 is 23.3 meters away at (-15.7, 17.2). A unknown object with ID 5 is 50.3 meters away at (-44.4, 23.5). A vehicle with ID 13 is 50.9 meters away at (-35.0, 36.9). A unknown object with ID 2 is 54.8 meters away at (45.2, -31.0). A vehicle with ID 6 is 56.6 meters away at (-42.3, 37.6).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.4816914 -2.4962158] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.6317124 -0.7309771] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-5.8025465  4.7947254] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 12 is 7.4 meters away at (2.2, 7.0). A vehicle with ID 10 is 14.2 meters away at (-5.7, 13.0). A vehicle with ID 13 is 49.9 meters away at (-34.2, 36.3). A unknown object with ID 5 is 50.3 meters away at (-44.4, 23.5). A unknown object with ID 2 is 55.0 meters away at (45.4, -31.1). A vehicle with ID 6 is 70.3 meters away at (-53.4, 45.7).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.9364486 -3.4451816] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.706608  -3.0774562] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.26810986 -0.22160853] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-4.135582   2.7518587] 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, 4.8) m/s. Its current heading (yaw) is 1.55 radians with an angular velocity of 1.55 rad/s.

The most relevant actors are: A vehicle with ID 24 is 7.9 meters away at (-7.3, 3.1). A vehicle with ID 22 is 8.1 meters away at (-7.7, -2.8). A vehicle with ID 28 is 10.6 meters away at (-6.6, 8.3). A vehicle with ID 25 is 10.8 meters away at (-7.2, -8.1). A pedestrian with ID 29 is 12.0 meters away at (-8.2, -8.7). A vehicle with ID 27 is 14.3 meters away at (-5.9, -13.0). A vehicle with ID 31 is 14.4 meters away at (-5.9, 13.2). A vehicle with ID 30 is 19.1 meters away at (-2.9, -18.9). A vehicle with ID 34 is 22.9 meters away at (0.0, -22.9). A vehicle with ID 43 is 27.0 meters away at (3.8, -26.8).

The vehicle with ID 24 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 28 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01442132  0.06094734] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 1.2) m/s. Its current heading (yaw) is 1.37 radians with an angular velocity of 1.37 rad/s.

The most relevant actors are: A vehicle with ID 28 is 7.7 meters away at (-7.4, 2.3). A vehicle with ID 24 is 8.6 meters away at (-8.1, -2.8). A vehicle with ID 31 is 9.7 meters away at (-6.6, 7.1). A vehicle with ID 22 is 12.2 meters away at (-8.5, -8.7). A vehicle with ID 25 is 16.2 meters away at (-8.0, -14.0). A vehicle with ID 27 is 20.2 meters away at (-6.8, -19.1). A vehicle with ID 19 is 20.3 meters away at (20.0, 3.5). A vehicle with ID 30 is 25.3 meters away at (-3.8, -25.0). A vehicle with ID 23 is 26.6 meters away at (26.6, -0.5). A vehicle with ID 4 is 28.1 meters away at (25.9, 10.8).

The vehicle with ID 28 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 31 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [-1.6114979  1.0477631] m/s.

Instruction: Slight right turn approaching.