The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.38 radians with an angular velocity of -1.38 rad/s.

The most relevant actors are: A vehicle with ID 19 is 18.3 meters away at (-17.5, 5.1). A pedestrian with ID 17 is 30.0 meters away at (17.5, 24.3). A unknown object with ID 18 is 34.9 meters away at (-32.9, 11.6). A unknown object with ID 11 is 36.1 meters away at (-34.0, 12.0). A pedestrian with ID 20 is 45.1 meters away at (11.0, 43.8). A pedestrian with ID 21 is 51.2 meters away at (13.1, 49.6). A vehicle with ID 13 is 54.4 meters away at (45.1, -30.4). A pedestrian with ID 22 is 55.4 meters away at (12.4, 53.9). A unknown object with ID 9 is 56.6 meters away at (2.5, 56.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [5.500155  2.1917548] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.66133165 -0.88576514] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.12934054  0.02837409] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02392631 0.00577205] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.915127  -4.8897996] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00048969 0.025714  ] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.9) m/s. Its current heading (yaw) is -1.35 radians with an angular velocity of -1.35 rad/s.

The most relevant actors are: A vehicle with ID 19 is 15.3 meters away at (-8.3, 12.8). A pedestrian with ID 17 is 28.3 meters away at (16.2, 23.2). A unknown object with ID 18 is 35.2 meters away at (-33.1, 12.1). A vehicle with ID 6 is 41.2 meters away at (26.7, -31.4). A pedestrian with ID 20 is 45.3 meters away at (11.0, 43.9). A pedestrian with ID 21 is 51.7 meters away at (13.2, 49.9). A pedestrian with ID 22 is 55.9 meters away at (12.5, 54.5). A vehicle with ID 13 is 79.2 meters away at (68.4, -40.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [3.988821  4.1891975] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.6038079  -0.69027936] m/s.The unknown object with ID 18 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 [-16.197086   7.045087] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.06200944 0.01666334] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.04682438 0.06483418] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.03870013 0.0766246 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [11.599217  -4.9342933] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 6 is 14.8 meters away at (-7.2, -12.9). A vehicle with ID 19 is 24.7 meters away at (-4.0, 24.4). A pedestrian with ID 17 is 29.7 meters away at (13.1, 26.6). A unknown object with ID 18 is 38.8 meters away at (-34.8, 17.2). A unknown object with ID 3 is 40.3 meters away at (-36.1, 17.9). A unknown object with ID 8 is 40.8 meters away at (-37.2, 16.8). A pedestrian with ID 20 is 50.0 meters away at (9.6, 49.0). A pedestrian with ID 21 is 56.9 meters away at (11.7, 55.7). A pedestrian with ID 22 is 60.6 meters away at (10.9, 59.6). A vehicle with ID 5 is 75.0 meters away at (-69.8, 27.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-15.627607   6.629375] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.3826313 2.520894 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.7270964 -0.8049155] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.04593275 -0.03330864] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.06425833 0.14312106] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.02634093 -0.00497011] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.4, 0.1) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 92 is 10.6 meters away at (5.2, -9.2). A vehicle with ID 95 is 12.3 meters away at (8.0, -9.3). A vehicle with ID 99 is 14.0 meters away at (10.6, -9.1). A vehicle with ID 126 is 15.0 meters away at (14.4, 4.2). A vehicle with ID 107 is 16.0 meters away at (13.2, -9.1). A vehicle with ID 111 is 18.4 meters away at (16.0, -9.2). A vehicle with ID 82 is 18.6 meters away at (-17.8, 5.2). A vehicle with ID 83 is 19.1 meters away at (-16.6, -9.4). A vehicle with ID 113 is 21.4 meters away at (19.1, -9.6). A vehicle with ID 96 is 21.6 meters away at (-0.2, -21.6).

The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [-8.289439    0.17888492] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-2.9027605   0.96525055] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.7, 0.1) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 116 is 9.6 meters away at (0.3, -9.6). A vehicle with ID 113 is 10.0 meters away at (-2.2, -9.8). A vehicle with ID 111 is 10.8 meters away at (-5.2, -9.4). A vehicle with ID 107 is 12.2 meters away at (-8.0, -9.2). A vehicle with ID 99 is 14.1 meters away at (-10.6, -9.3). A vehicle with ID 95 is 16.2 meters away at (-13.2, -9.4). A vehicle with ID 92 is 18.5 meters away at (-16.0, -9.3). A vehicle with ID 126 is 21.3 meters away at (-20.9, 4.2). A vehicle with ID 122 is 22.4 meters away at (0.4, -22.4). A vehicle with ID 121 is 22.5 meters away at (-2.4, -22.3).

The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [-5.4407916   0.11940014] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.2, 0.0) m/s. Its current heading (yaw) is 0.00 radians with an angular velocity of 0.00 rad/s.

The most relevant actors are: A vehicle with ID 116 is 22.6 meters away at (-20.3, -9.8). A vehicle with ID 52 is 23.6 meters away at (21.5, -9.7). A vehicle with ID 113 is 25.0 meters away at (-23.0, -9.8). A vehicle with ID 51 is 26.3 meters away at (24.4, -9.9). A vehicle with ID 62 is 27.3 meters away at (-14.9, -22.8). A vehicle with ID 111 is 27.7 meters away at (-26.0, -9.4). A vehicle with ID 72 is 28.2 meters away at (16.4, -23.0). A vehicle with ID 49 is 28.9 meters away at (27.1, -10.0). A vehicle with ID 125 is 29.0 meters away at (-17.8, -22.9). A vehicle with ID 107 is 30.3 meters away at (-28.8, -9.3).

The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 52 is 9.8 meters away at (1.5, -9.7). A vehicle with ID 51 is 10.8 meters away at (4.4, -9.8). A vehicle with ID 49 is 12.3 meters away at (7.2, -10.0). A vehicle with ID 63 is 14.0 meters away at (9.9, -9.9). A vehicle with ID 47 is 16.1 meters away at (12.6, -10.0). A vehicle with ID 72 is 23.2 meters away at (-3.6, -23.0). A vehicle with ID 76 is 23.8 meters away at (7.5, -22.6). A vehicle with ID 74 is 24.8 meters away at (10.3, -22.6). A vehicle with ID 55 is 25.9 meters away at (13.0, -22.4). A vehicle with ID 54 is 27.6 meters away at (15.8, -22.6).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [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 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.7) m/s. Its current heading (yaw) is -1.53 radians with an angular velocity of -1.53 rad/s.

The most relevant actors are: A vehicle with ID 13 is 10.9 meters away at (2.6, -10.6). A vehicle with ID 14 is 28.8 meters away at (-4.8, 28.4). A vehicle with ID 15 is 44.4 meters away at (-5.6, 44.0). A pedestrian with ID 10 is 68.7 meters away at (7.4, -68.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [13.381659  -3.1761577] 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 10 is traveling at a (x, y) velocity of [-0.08091018  0.4752051 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -2.8) m/s. Its current heading (yaw) is -1.25 radians with an angular velocity of -1.25 rad/s.

The most relevant actors are: A vehicle with ID 13 is 30.8 meters away at (27.5, -14.0). A vehicle with ID 14 is 32.6 meters away at (-5.3, 32.1). A vehicle with ID 15 is 48.7 meters away at (-5.9, 48.4). A pedestrian with ID 10 is 65.0 meters away at (6.5, -64.7). A vehicle with ID 8 is 79.4 meters away at (-78.6, 11.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [11.600964  -3.6549048] 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 [0.15594003 0.5825787 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.03952863  0.01096247] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -2.5) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 14 is 39.1 meters away at (-9.2, 37.9). A vehicle with ID 13 is 45.4 meters away at (42.9, -14.7). A vehicle with ID 15 is 56.3 meters away at (-9.7, 55.5). A pedestrian with ID 10 is 59.0 meters away at (1.9, -59.0). A unknown object with ID 7 is 63.5 meters away at (-61.2, 16.7).

The vehicle with ID 14 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 [ 7.9418974 -2.4504735] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.10892061 0.6388934 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.88205326 -0.12504992] m/s.The unknown object with ID 7 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, -1.7) 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 14 is 45.6 meters away at (-17.7, 42.0). A vehicle with ID 13 is 48.8 meters away at (47.7, -10.4). A unknown object with ID 3 is 49.1 meters away at (48.6, -6.4). A unknown object with ID 5 is 52.4 meters away at (52.3, -3.2). A vehicle with ID 15 is 63.0 meters away at (-18.0, 60.4). A unknown object with ID 7 is 72.6 meters away at (-69.6, 20.6). A vehicle with ID 2 is 75.0 meters away at (66.3, -35.0).

The vehicle with ID 14 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 [5.419755  2.4708066] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 unknown object with ID 7 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 [-6.593533   3.8309255] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.65 radians with an angular velocity of -0.65 rad/s.

The most relevant actors are: A vehicle with ID 78 is 4.4 meters away at (1.0, -4.2). A vehicle with ID 71 is 5.8 meters away at (-2.3, -5.3). A vehicle with ID 81 is 7.6 meters away at (-7.3, -2.3). A cyclist with ID 10 is 8.3 meters away at (7.3, -4.0). A vehicle with ID 62 is 9.4 meters away at (-7.9, 5.0). A vehicle with ID 67 is 9.9 meters away at (2.9, -9.5). A vehicle with ID 87 is 14.0 meters away at (11.9, -7.5). A vehicle with ID 88 is 14.8 meters away at (8.4, 12.2). A vehicle with ID 70 is 14.9 meters away at (7.7, -12.8). A unknown object with ID 94 is 17.3 meters away at (-16.7, 4.8).

The vehicle with ID 78 is traveling at a (x, y) velocity of [ 5.768782 -3.757918] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.01889748 -0.00213226] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 1.7079542 -1.105843 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.8, -5.0). A vehicle with ID 125 is 6.5 meters away at (-6.4, 0.8). A vehicle with ID 62 is 7.6 meters away at (-6.4, 4.1). A cyclist with ID 10 is 7.7 meters away at (6.7, -3.6). A vehicle with ID 81 is 8.0 meters away at (-7.8, -2.0). A vehicle with ID 67 is 9.4 meters away at (2.3, -9.1). A vehicle with ID 87 is 13.6 meters away at (11.5, -7.2). A vehicle with ID 70 is 14.3 meters away at (7.1, -12.4). A vehicle with ID 88 is 14.9 meters away at (7.9, 12.6). A vehicle with ID 78 is 16.2 meters away at (11.8, -11.1).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 5.9181933 -3.7861001] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.5913469  -0.40152338] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [0.00978041 0.013993  ] m/s.The vehicle with ID 81 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 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 [ 5.296113  -3.3807948] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-2.9, -4.9). A vehicle with ID 62 is 7.2 meters away at (-6.1, 3.9). A cyclist with ID 10 is 7.6 meters away at (6.7, -3.6). A vehicle with ID 81 is 8.1 meters away at (-7.9, -1.9). A vehicle with ID 125 is 8.4 meters away at (5.0, -6.7). A vehicle with ID 67 is 9.3 meters away at (2.3, -9.0). A vehicle with ID 70 is 14.2 meters away at (7.0, -12.4). A vehicle with ID 88 is 14.9 meters away at (7.9, 12.6). A vehicle with ID 87 is 15.2 meters away at (12.8, -8.1). A unknown object with ID 94 is 18.0 meters away at (-17.2, 5.2).

The vehicle with ID 71 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 cyclist with ID 10 is traveling at a (x, y) velocity of [-0.03357249  0.01747893] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [ 5.5702457 -3.6244915] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [ 1.080318   -0.70298177] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.2) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 71 is 5.7 meters away at (-3.4, -4.5). A vehicle with ID 62 is 7.5 meters away at (-6.3, 4.1). A cyclist with ID 10 is 7.7 meters away at (6.9, -3.6). A vehicle with ID 81 is 8.5 meters away at (-8.3, -1.5). A vehicle with ID 67 is 8.9 meters away at (1.8, -8.7). A vehicle with ID 38 is 9.4 meters away at (6.7, 6.6). A vehicle with ID 70 is 13.7 meters away at (6.6, -12.0). A vehicle with ID 88 is 14.9 meters away at (7.2, 13.0). A vehicle with ID 53 is 16.1 meters away at (16.1, -0.3). A vehicle with ID 82 is 17.8 meters away at (16.3, 7.4).

The vehicle with ID 71 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 [ 0.26900578 -0.18549562] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 1.1317582 -0.7473066] m/s.The vehicle with ID 81 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 38 is traveling at a (x, y) velocity of [-8.480892  5.635241] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-7.879966   5.0986924] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -1.6) m/s. Its current heading (yaw) is -2.71 radians with an angular velocity of -2.71 rad/s.

The most relevant actors are: A vehicle with ID 3 is 9.3 meters away at (9.1, 1.8). A vehicle with ID 20 is 19.8 meters away at (19.8, -0.4). A vehicle with ID 18 is 24.3 meters away at (22.7, 8.5). A vehicle with ID 19 is 24.3 meters away at (19.1, 14.9). A cyclist with ID 21 is 25.3 meters away at (15.8, 19.8). A vehicle with ID 24 is 29.4 meters away at (20.5, -21.1). A vehicle with ID 22 is 29.5 meters away at (19.0, 22.6). A vehicle with ID 25 is 31.5 meters away at (16.2, -26.9). A vehicle with ID 23 is 32.2 meters away at (-0.4, 32.2). A vehicle with ID 31 is 35.2 meters away at (12.3, -33.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.1355014  -0.26737693] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.3681726  1.3995296] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.03232298 0.01100449] m/s.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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [4.7502284 2.4405363] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.2) m/s. Its current heading (yaw) is -2.33 radians with an angular velocity of -2.33 rad/s.

The most relevant actors are: A vehicle with ID 3 is 11.1 meters away at (9.6, 5.7). A vehicle with ID 20 is 23.0 meters away at (21.9, 7.2). A vehicle with ID 25 is 32.3 meters away at (24.1, -21.4). A vehicle with ID 24 is 32.4 meters away at (28.4, -15.5). A vehicle with ID 18 is 33.8 meters away at (30.8, 13.9). A vehicle with ID 19 is 33.9 meters away at (27.0, 20.6). A vehicle with ID 31 is 34.1 meters away at (20.3, -27.4). A cyclist with ID 21 is 34.7 meters away at (23.7, 25.4). A vehicle with ID 22 is 38.9 meters away at (26.8, 28.2). A unknown object with ID 30 is 40.5 meters away at (37.5, -15.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.31378  -1.741904] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.9209976  0.6104938] m/s.The vehicle with ID 25 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.01970958  0.00968346] m/s.The vehicle with ID 22 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.4) 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 3 is 12.7 meters away at (7.6, 10.1). A vehicle with ID 20 is 26.9 meters away at (20.2, 17.7). A vehicle with ID 31 is 32.8 meters away at (28.3, -16.5). A vehicle with ID 25 is 33.7 meters away at (32.0, -10.5). A vehicle with ID 24 is 36.5 meters away at (36.3, -4.5). A vehicle with ID 39 is 43.8 meters away at (24.0, -36.6). A unknown object with ID 30 is 45.6 meters away at (45.4, -4.3). A vehicle with ID 18 is 45.9 meters away at (38.4, 25.1). A vehicle with ID 19 is 47.0 meters away at (34.8, 31.6). A cyclist with ID 21 is 48.0 meters away at (31.4, 36.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7019277 -4.73964  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.861364  -1.4400176] m/s.The vehicle with ID 31 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.04578114  0.01150581] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.4) 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 3 is 14.4 meters away at (7.8, 12.0). A vehicle with ID 31 is 37.6 meters away at (37.5, -2.6). A vehicle with ID 4 is 37.6 meters away at (37.5, -2.6). A vehicle with ID 39 is 40.3 meters away at (33.3, -22.7). A vehicle with ID 25 is 41.4 meters away at (41.2, 3.4). A vehicle with ID 24 is 46.4 meters away at (45.4, 9.3). A vehicle with ID 43 is 49.5 meters away at (38.2, -31.5). A vehicle with ID 14 is 61.1 meters away at (48.0, -37.8). A vehicle with ID 18 is 61.6 meters away at (47.6, 39.1). A vehicle with ID 10 is 61.8 meters away at (48.7, -38.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.977983  -7.1360655] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.9) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A vehicle with ID 31 is 3.5 meters away at (-3.3, 1.4). A vehicle with ID 26 is 9.9 meters away at (-6.3, -7.6). A pedestrian with ID 27 is 11.4 meters away at (-9.5, 6.2). A unknown object with ID 7 is 16.0 meters away at (-11.1, 11.5). A vehicle with ID 3 is 21.5 meters away at (-3.0, 21.3). A vehicle with ID 25 is 23.1 meters away at (17.6, 15.0). A vehicle with ID 28 is 29.7 meters away at (-21.9, -20.0). A vehicle with ID 35 is 36.2 meters away at (23.2, 27.8). A unknown object with ID 5 is 36.4 meters away at (-36.2, 3.7). A pedestrian with ID 34 is 43.9 meters away at (-43.0, -9.0).

The vehicle with ID 31 is traveling at a (x, y) velocity of [-6.702583 -7.314381] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.5071813  0.44047275] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6846266  2.4660764] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [6.988743  7.5744033] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.003087 -4.514962] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.7352514 -3.6232123] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.7334278 -0.7369451] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.2) m/s. Its current heading (yaw) is 1.21 radians with an angular velocity of 1.21 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 11.8 meters away at (-11.5, 2.5). A vehicle with ID 26 is 13.0 meters away at (-7.7, -10.4). A vehicle with ID 35 is 19.9 meters away at (15.1, 13.0). A vehicle with ID 31 is 23.6 meters away at (-17.5, -15.9). A vehicle with ID 3 is 27.2 meters away at (-14.7, 22.9). A cyclist with ID 11 is 27.6 meters away at (21.5, 17.4). A vehicle with ID 17 is 29.0 meters away at (-18.5, -22.3). A vehicle with ID 24 is 38.7 meters away at (-24.8, -29.6). A unknown object with ID 33 is 40.0 meters away at (20.0, 34.6). A vehicle with ID 25 is 42.0 meters away at (31.8, 27.5).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.49698216 0.6370375 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [1.7604758 2.1646314] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-0.5226619 -7.1925554] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-4.5338125 -5.0365334] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.4696584  3.2410243] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [ 2.9133081 -6.2946577] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0.3990762  0.52463627] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [10.081208  9.423663] 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, 4.5) m/s. Its current heading (yaw) is 1.99 radians with an angular velocity of 1.99 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 12.2 meters away at (-10.6, -6.0). A vehicle with ID 26 is 14.6 meters away at (-2.9, -14.3). A vehicle with ID 12 is 18.5 meters away at (-5.5, -17.6). A vehicle with ID 35 is 24.6 meters away at (21.4, -12.1). A vehicle with ID 3 is 30.9 meters away at (-24.2, 19.3). A unknown object with ID 33 is 32.0 meters away at (20.0, 25.0). A vehicle with ID 17 is 33.6 meters away at (-16.4, -29.4). A unknown object with ID 36 is 36.2 meters away at (26.0, 25.2). A vehicle with ID 31 is 42.2 meters away at (-24.9, -34.1). A vehicle with ID 24 is 46.3 meters away at (-24.8, -39.1).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.3892662 0.5702424] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [3.147497  3.7147114] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [3.3119311 3.805662 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 6.533095  -7.1409407] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.0655036  2.6973624] m/s.The unknown object with ID 33 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 [2.2344754 2.5976896] m/s.The unknown object with ID 36 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 [-3.1888657 -3.8215578] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.4) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 13.8 meters away at (-3.5, -13.4). A vehicle with ID 26 is 17.3 meters away at (11.9, -12.6). A vehicle with ID 17 is 30.7 meters away at (-3.9, -30.4). A vehicle with ID 3 is 32.1 meters away at (-27.8, 16.1). A unknown object with ID 36 is 36.6 meters away at (32.1, 17.5). A vehicle with ID 24 is 48.0 meters away at (-16.6, -45.0). A pedestrian with ID 34 is 49.2 meters away at (-33.6, -35.9). A vehicle with ID 31 is 54.2 meters away at (-24.0, -48.6). A vehicle with ID 35 is 56.3 meters away at (45.9, -32.6). A vehicle with ID 23 is 57.4 meters away at (-23.2, -52.6).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.3241399 -0.0718836] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.0094795 5.384584 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.8814192 4.3884172] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.937589  2.233244] m/s.The unknown object with ID 36 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 [2.0684793 2.3032908] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 1.0048453 -0.93802  ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-2.515476  -3.0315201] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [10.761515  -5.6239314] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.6) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 14 is 25.3 meters away at (-2.1, -25.2). A unknown object with ID 15 is 26.4 meters away at (2.9, -26.3). A vehicle with ID 16 is 28.0 meters away at (-2.1, -28.0). A vehicle with ID 18 is 32.7 meters away at (11.2, -30.8). A unknown object with ID 17 is 33.7 meters away at (-1.8, 33.6). A unknown object with ID 19 is 37.7 meters away at (37.0, 7.4). A unknown object with ID 20 is 38.7 meters away at (38.2, 6.1). A vehicle with ID 21 is 42.0 meters away at (41.2, 8.5). A vehicle with ID 22 is 47.3 meters away at (-5.6, -47.0). A vehicle with ID 11 is 49.9 meters away at (-6.8, -49.4).

The vehicle with ID 14 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.2) m/s. Its current heading (yaw) is -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 14 is 22.2 meters away at (-0.1, -22.2). A vehicle with ID 16 is 25.0 meters away at (-0.1, -25.0). A vehicle with ID 18 is 30.8 meters away at (13.2, -27.8). A unknown object with ID 17 is 36.6 meters away at (-0.1, 36.6). A unknown object with ID 19 is 40.1 meters away at (38.7, 10.4). A unknown object with ID 20 is 41.1 meters away at (40.1, 9.2). A vehicle with ID 22 is 44.3 meters away at (-3.7, -44.1). A vehicle with ID 21 is 44.5 meters away at (42.9, 11.5). A vehicle with ID 11 is 46.8 meters away at (-4.7, -46.6). A pedestrian with ID 24 is 59.4 meters away at (40.5, -43.5).

The vehicle with ID 14 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 18 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 19 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.80313504  0.8205413 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 0.7) m/s. Its current heading (yaw) is 2.99 radians with an angular velocity of 2.99 rad/s.

The most relevant actors are: A vehicle with ID 14 is 20.6 meters away at (6.7, -19.5). A vehicle with ID 16 is 23.3 meters away at (6.6, -22.3). A vehicle with ID 18 is 32.1 meters away at (20.0, -25.0). A unknown object with ID 17 is 39.8 meters away at (6.4, 39.3). A vehicle with ID 22 is 41.5 meters away at (3.2, -41.4). A vehicle with ID 11 is 43.9 meters away at (2.2, -43.9). A unknown object with ID 19 is 47.4 meters away at (45.4, 13.7). A vehicle with ID 8 is 47.7 meters away at (42.5, 21.6). A vehicle with ID 21 is 51.5 meters away at (49.5, 14.1). A pedestrian with ID 25 is 60.1 meters away at (45.1, -39.7).

The vehicle with ID 14 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 18 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 vehicle with ID 22 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 19 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.9050955  0.6250779] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 3.6) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 14 is 30.1 meters away at (17.1, -24.7). A vehicle with ID 16 is 32.4 meters away at (16.9, -27.6). A unknown object with ID 17 is 38.2 meters away at (17.2, 34.1). A vehicle with ID 18 is 43.0 meters away at (30.4, -30.4). A vehicle with ID 22 is 48.5 meters away at (13.6, -46.6). A unknown object with ID 10 is 49.1 meters away at (10.8, -47.9). A unknown object with ID 19 is 56.7 meters away at (56.2, 7.8). A unknown object with ID 3 is 57.9 meters away at (57.5, 6.5). A vehicle with ID 21 is 61.0 meters away at (60.3, 9.0). A pedestrian with ID 25 is 69.6 meters away at (53.9, -44.1).

The vehicle with ID 14 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 unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.64779574  0.72673345] m/s.

Instruction: right u-turn approaching.


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 -0.34 radians with an angular velocity of -0.34 rad/s.

The most relevant actors are: A vehicle with ID 49 is 3.0 meters away at (-1.1, -2.8). A vehicle with ID 46 is 6.2 meters away at (-6.0, -1.4). A vehicle with ID 52 is 6.8 meters away at (4.9, -4.7). A unknown object with ID 50 is 7.6 meters away at (-0.9, -7.6). A unknown object with ID 48 is 9.3 meters away at (-3.0, 8.8). A vehicle with ID 43 is 14.1 meters away at (-12.0, 7.4). A vehicle with ID 20 is 23.4 meters away at (21.3, -9.9). A vehicle with ID 12 is 23.5 meters away at (-23.4, 2.1). A vehicle with ID 51 is 34.3 meters away at (-34.1, -3.7). A vehicle with ID 38 is 40.1 meters away at (38.9, -9.8).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.464667  1.3978026] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-10.480184    3.5056827] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.3) 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 38 is 5.5 meters away at (5.0, 2.3). A vehicle with ID 52 is 8.9 meters away at (-8.9, -0.3). A vehicle with ID 20 is 9.0 meters away at (7.1, -5.4). A unknown object with ID 29 is 10.2 meters away at (-4.8, 9.0). A vehicle with ID 49 is 15.2 meters away at (-15.1, 1.6). A unknown object with ID 50 is 15.2 meters away at (-14.9, -3.1). A vehicle with ID 46 is 20.5 meters away at (-20.3, 3.2). A unknown object with ID 48 is 21.6 meters away at (-17.0, 13.3). A vehicle with ID 10 is 23.5 meters away at (19.2, 13.6). A vehicle with ID 11 is 27.9 meters away at (20.9, 18.4).

The vehicle with ID 38 is traveling at a (x, y) velocity of [-9.226268   3.1435113] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.5) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 20 is 4.1 meters away at (-3.9, -1.3). A vehicle with ID 10 is 19.5 meters away at (7.9, 17.8). A vehicle with ID 52 is 20.5 meters away at (-20.2, 3.9). A unknown object with ID 29 is 20.7 meters away at (-16.1, 13.0). A vehicle with ID 7 is 23.2 meters away at (19.8, 12.1). A vehicle with ID 42 is 24.1 meters away at (24.1, -0.9). A vehicle with ID 11 is 24.8 meters away at (10.1, 22.6). A vehicle with ID 9 is 25.3 meters away at (20.1, 15.4). A vehicle with ID 38 is 25.6 meters away at (-22.7, 11.7). A unknown object with ID 21 is 25.7 meters away at (23.0, 11.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 38 is traveling at a (x, y) velocity of [-7.364843   2.0418987] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.5) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A vehicle with ID 20 is 11.7 meters away at (-11.3, 3.0). A vehicle with ID 42 is 17.0 meters away at (16.6, 3.3). A vehicle with ID 7 is 20.4 meters away at (12.4, 16.3). A vehicle with ID 44 is 21.9 meters away at (20.7, -7.2). A vehicle with ID 10 is 22.0 meters away at (0.7, 22.0). A vehicle with ID 45 is 22.5 meters away at (22.4, 1.6). A vehicle with ID 9 is 23.4 meters away at (12.7, 19.6). A vehicle with ID 12 is 25.0 meters away at (-23.0, 10.0). A vehicle with ID 11 is 26.9 meters away at (2.8, 26.7). A vehicle with ID 52 is 28.8 meters away at (-27.6, 8.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.105594  -1.9943125] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.7) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 11 is 13.1 meters away at (8.6, 9.9). A vehicle with ID 13 is 19.2 meters away at (14.7, 12.4). A vehicle with ID 14 is 22.6 meters away at (14.8, 17.0). A vehicle with ID 15 is 25.9 meters away at (-16.5, -19.9). A unknown object with ID 2 is 47.2 meters away at (40.0, 25.1). A vehicle with ID 18 is 50.5 meters away at (30.5, 40.3). A vehicle with ID 21 is 53.8 meters away at (30.1, 44.6). A pedestrian with ID 23 is 59.9 meters away at (29.8, 51.9). A vehicle with ID 17 is 63.1 meters away at (-43.4, -45.8). A vehicle with ID 19 is 69.8 meters away at (-47.9, -50.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [1.3528161 1.58032  ] m/s.The vehicle with ID 13 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 [0.3288622  0.40864745] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [4.5026526 5.322127 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8279654 -1.0805379] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 1.3) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 11 is 9.9 meters away at (6.5, 7.4). A vehicle with ID 13 is 13.8 meters away at (11.1, 8.2). A vehicle with ID 14 is 17.4 meters away at (11.3, 13.2). A vehicle with ID 15 is 19.4 meters away at (-12.4, -14.9). A cyclist with ID 1 is 30.7 meters away at (-0.9, 30.7). A vehicle with ID 7 is 31.4 meters away at (17.8, 25.8). A unknown object with ID 5 is 40.4 meters away at (16.1, 37.0). A unknown object with ID 2 is 41.9 meters away at (36.4, 20.9). A vehicle with ID 18 is 45.0 meters away at (26.9, 36.1). A vehicle with ID 21 is 48.3 meters away at (26.5, 40.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0.4594901 0.5594577] m/s.The vehicle with ID 13 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 [3.3492973 4.00836  ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [8.3974214e-08 7.0678499e-09] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-7.06935   5.914853] 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.4) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 11 is 8.4 meters away at (5.5, 6.3). A vehicle with ID 13 is 11.6 meters away at (9.6, 6.5). A vehicle with ID 15 is 13.7 meters away at (-8.8, -10.5). A vehicle with ID 14 is 15.2 meters away at (9.8, 11.5). A vehicle with ID 7 is 36.7 meters away at (2.0, 36.6). A unknown object with ID 2 is 39.8 meters away at (34.9, 19.1). A vehicle with ID 18 is 42.8 meters away at (25.5, 34.4). A vehicle with ID 21 is 46.1 meters away at (25.1, 38.7). A pedestrian with ID 23 is 46.9 meters away at (21.5, 41.7). A pedestrian with ID 3 is 56.3 meters away at (56.3, -2.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [1.3148202 1.6199956] m/s.The vehicle with ID 14 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 [-7.4592957  6.589573 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.75753665 -1.0453466 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.97165257 0.1450161 ] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 11 is 8.1 meters away at (5.4, 6.1). A vehicle with ID 13 is 11.3 meters away at (9.4, 6.3). A vehicle with ID 15 is 12.7 meters away at (-8.1, -9.8). A vehicle with ID 14 is 14.9 meters away at (9.7, 11.4). A vehicle with ID 18 is 40.6 meters away at (24.2, 32.7). A pedestrian with ID 23 is 44.1 meters away at (19.6, 39.5). A vehicle with ID 21 is 44.6 meters away at (24.1, 37.5). A vehicle with ID 17 is 71.1 meters away at (-48.6, -51.9). A vehicle with ID 19 is 78.2 meters away at (-53.4, -57.1).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.283807 -1.85732 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.92087764 -0.82849675] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.1044835 -1.3451511] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -3.9) m/s. Its current heading (yaw) is -1.25 radians with an angular velocity of -1.25 rad/s.

There are no other relevant actors in the scene.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -3.6) m/s. Its current heading (yaw) is -1.12 radians with an angular velocity of -1.12 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.7) m/s. Its current heading (yaw) is -0.75 radians with an angular velocity of -0.75 rad/s.

The most relevant actors are: A unknown object with ID 2 is 37.6 meters away at (24.2, -28.7).

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

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -2.4) m/s. Its current heading (yaw) is -0.65 radians with an angular velocity of -0.65 rad/s.

The most relevant actors are: A unknown object with ID 2 is 29.8 meters away at (18.1, -23.7).

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

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.5) m/s. Its current heading (yaw) is -1.68 radians with an angular velocity of -1.68 rad/s.

The most relevant actors are: A vehicle with ID 45 is 4.8 meters away at (4.3, 2.2). A pedestrian with ID 47 is 5.9 meters away at (-5.9, -0.8). A vehicle with ID 48 is 9.9 meters away at (6.3, 7.7). A vehicle with ID 49 is 10.2 meters away at (1.4, 10.1). A vehicle with ID 16 is 12.3 meters away at (-7.7, -9.5). A vehicle with ID 50 is 12.9 meters away at (-1.1, 12.9). A vehicle with ID 51 is 17.5 meters away at (0.8, 17.5). A vehicle with ID 53 is 20.1 meters away at (-20.1, 0.7). A vehicle with ID 52 is 23.0 meters away at (2.3, 22.9). A vehicle with ID 46 is 23.7 meters away at (13.8, -19.2).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.3295766   0.38487723] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-0.578008  -1.3136911] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 5.4918156 -1.7160447] m/s.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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -4.5) m/s. Its current heading (yaw) is -1.03 radians with an angular velocity of -1.03 rad/s.

The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (5.2, -6.7). A vehicle with ID 45 is 9.8 meters away at (2.7, 9.4). A vehicle with ID 49 is 12.6 meters away at (-2.1, 12.4). A pedestrian with ID 47 is 12.7 meters away at (-10.2, 7.5). A vehicle with ID 48 is 15.8 meters away at (4.7, 15.1). A vehicle with ID 46 is 17.1 meters away at (12.1, -12.0). A vehicle with ID 57 is 20.0 meters away at (-13.9, -14.4). A vehicle with ID 50 is 20.2 meters away at (-2.8, 20.0). A vehicle with ID 56 is 20.3 meters away at (19.6, -5.5). A vehicle with ID 42 is 20.7 meters away at (19.1, -8.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [ 9.093912  -2.8872015] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-1.1160318 -2.7045612] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-1.5305892  0.3704567] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-6.0328956  2.1356494] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -2.6) m/s. Its current heading (yaw) is -0.42 radians with an angular velocity of -0.42 rad/s.

The most relevant actors are: A vehicle with ID 42 is 3.5 meters away at (2.5, 2.4). A vehicle with ID 46 is 5.7 meters away at (3.3, -4.6). A vehicle with ID 14 is 10.8 meters away at (10.6, 2.0). A vehicle with ID 44 is 14.6 meters away at (12.6, -7.5). A vehicle with ID 45 is 17.9 meters away at (-6.2, 16.8). A vehicle with ID 16 is 18.3 meters away at (17.4, -5.8). A vehicle with ID 68 is 19.7 meters away at (17.3, -9.4). A unknown object with ID 24 is 20.5 meters away at (20.5, 0.2). A vehicle with ID 49 is 20.7 meters away at (-12.1, 16.7). A vehicle with ID 48 is 22.8 meters away at (-4.2, 22.4).

The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.9066182  0.6406152] m/s.The vehicle with ID 46 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.052265  -3.5800433] m/s.The vehicle with ID 68 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 49 is traveling at a (x, y) velocity of [-0.48195034 -1.2300072 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) 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 44 is 3.0 meters away at (-0.0, -3.0). A vehicle with ID 68 is 6.7 meters away at (4.6, -4.9). A vehicle with ID 14 is 6.8 meters away at (-2.1, 6.5). A unknown object with ID 24 is 9.2 meters away at (7.8, 4.8). A vehicle with ID 46 is 9.2 meters away at (-9.2, -0.2). A vehicle with ID 43 is 13.8 meters away at (12.0, -6.9). A vehicle with ID 42 is 14.2 meters away at (-12.0, 7.5). A vehicle with ID 35 is 25.1 meters away at (24.4, 6.1). A vehicle with ID 16 is 28.1 meters away at (26.9, -8.3). A vehicle with ID 45 is 28.6 meters away at (-19.0, 21.4).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.64043176  0.10543472] m/s.The vehicle with ID 35 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 [11.078739 -3.710214] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 3.2) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 63 is 5.8 meters away at (5.3, 2.2). A vehicle with ID 74 is 7.0 meters away at (-3.5, -6.0). A vehicle with ID 66 is 12.2 meters away at (-0.1, -12.2). A vehicle with ID 70 is 16.0 meters away at (-13.4, 8.8). A vehicle with ID 60 is 20.0 meters away at (19.7, -3.0). A pedestrian with ID 64 is 21.2 meters away at (8.6, -19.4). A vehicle with ID 65 is 23.0 meters away at (18.7, -13.5). A vehicle with ID 68 is 26.3 meters away at (-24.7, 9.0). A vehicle with ID 76 is 27.8 meters away at (-24.7, 12.8). A pedestrian with ID 61 is 28.1 meters away at (28.1, 0.3).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 9.769239  -3.5353103] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.5905662  -0.26481405] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 9.666901 -3.522334] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-9.103376  3.081377] m/s.The vehicle with ID 76 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 [ 0.61285615 -0.33061108] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.1) 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 70 is 5.6 meters away at (5.1, 2.2). A vehicle with ID 76 is 8.7 meters away at (-6.0, 6.2). A vehicle with ID 45 is 9.6 meters away at (-8.6, -4.4). A vehicle with ID 78 is 13.1 meters away at (8.3, -10.1). A vehicle with ID 63 is 24.4 meters away at (24.0, -4.3). A vehicle with ID 68 is 26.0 meters away at (-24.5, 8.7). A vehicle with ID 66 is 26.3 meters away at (18.5, -18.7). A vehicle with ID 31 is 28.4 meters away at (-28.3, 2.5). A pedestrian with ID 44 is 29.1 meters away at (-22.5, 18.4). A pedestrian with ID 64 is 39.0 meters away at (28.6, -26.5).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 9.504394  -3.2197685] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 9.229282 -3.220704] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-9.042282   3.0455773] m/s.The vehicle with ID 66 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 [ 8.393053  -2.8536534] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.0267999   0.00035331] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.5461917 -0.2361013] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 2.5) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 16 is 9.4 meters away at (-8.3, -4.5). A vehicle with ID 76 is 11.3 meters away at (11.3, 0.2). A vehicle with ID 31 is 11.6 meters away at (6.7, -9.5). A pedestrian with ID 44 is 13.3 meters away at (-5.1, 12.4). A vehicle with ID 70 is 22.9 meters away at (22.6, -3.8). A cyclist with ID 33 is 25.0 meters away at (-23.5, -8.3). A vehicle with ID 68 is 26.3 meters away at (-24.9, 8.7). A vehicle with ID 45 is 33.0 meters away at (28.3, -17.1). A vehicle with ID 69 is 39.8 meters away at (37.4, -13.8). A pedestrian with ID 23 is 40.6 meters away at (-40.6, -1.3).

The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.550348 -3.024824] m/s.The vehicle with ID 76 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 [ 8.99467   -3.1058164] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.02510507 -0.0030138 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.04590921 -0.07001443] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-9.114851  3.012685] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 9.407811  -3.1835928] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-8.508647  2.992841] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.92005205 -0.36426818] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 3.4) m/s. Its current heading (yaw) is 2.50 radians with an angular velocity of 2.50 rad/s.

The most relevant actors are: A pedestrian with ID 44 is 10.3 meters away at (7.4, 7.2). A vehicle with ID 13 is 11.1 meters away at (-9.9, -5.2). A cyclist with ID 33 is 17.5 meters away at (-10.9, -13.7). A vehicle with ID 76 is 24.3 meters away at (23.9, -4.8). A vehicle with ID 16 is 26.8 meters away at (21.8, -15.6). A pedestrian with ID 23 is 27.0 meters away at (-26.0, -7.4). A pedestrian with ID 22 is 27.4 meters away at (-26.2, -8.2). A vehicle with ID 5 is 27.4 meters away at (2.9, 27.3). A pedestrian with ID 47 is 29.5 meters away at (-27.5, -10.8). A vehicle with ID 28 is 31.4 meters away at (-18.2, -25.6).

The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00045383 0.01411996] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 9.544657  -3.2560244] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.05399284 -0.04589112] m/s.The vehicle with ID 76 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 [ 9.145364  -3.1036556] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 1.111425  -0.5191351] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.2392769 -0.5791764] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.10852126 -0.9347855 ] m/s.The vehicle 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 (7.9, -3.3) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A vehicle with ID 14 is 10.6 meters away at (-9.5, -4.6). A pedestrian with ID 12 is 13.5 meters away at (-9.1, 10.0). A pedestrian with ID 13 is 14.0 meters away at (-9.0, 10.8). A pedestrian with ID 11 is 15.9 meters away at (-11.8, 10.7). A pedestrian with ID 18 is 18.3 meters away at (3.3, 18.0). A pedestrian with ID 10 is 21.1 meters away at (-17.5, 11.8). A vehicle with ID 16 is 27.0 meters away at (-16.7, 21.3). A vehicle with ID 15 is 30.1 meters away at (-27.4, -12.3). A vehicle with ID 17 is 38.1 meters away at (-33.2, -18.6). A unknown object with ID 5 is 41.7 meters away at (40.8, -8.6).

The vehicle with ID 14 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 [ 1.4744655  -0.02088372] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.4580415  0.01084869] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3711951  -0.23147278] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.55598384  0.8502494 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.3488158   0.65099955] m/s.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 [-2.2900338 -5.0815544] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.760131 -6.384847] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -3.4) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A unknown object with ID 5 is 24.9 meters away at (24.8, -1.7). A vehicle with ID 14 is 25.5 meters away at (-25.4, 2.3). A pedestrian with ID 12 is 28.1 meters away at (-22.2, 17.2). A pedestrian with ID 18 is 28.4 meters away at (-13.6, 24.9). A pedestrian with ID 13 is 28.7 meters away at (-22.3, 18.1). A pedestrian with ID 11 is 30.5 meters away at (-25.2, 17.2). A pedestrian with ID 10 is 41.3 meters away at (-36.2, 20.0). A vehicle with ID 16 is 43.1 meters away at (-32.8, 27.9). A vehicle with ID 15 is 51.1 meters away at (-48.5, -16.2). A vehicle with ID 17 is 61.5 meters away at (-55.5, -26.5).

The unknown object with ID 5 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 12 is traveling at a (x, y) velocity of [1.3258616  0.20804203] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.19796881 -0.23874271] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.27335    0.21396483] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2999624  -0.05749379] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.3690809   0.75597507] m/s.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 [-2.774671 -5.810764] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.3583858 -8.097987 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -3.4) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A unknown object with ID 5 is 10.0 meters away at (8.6, 5.1). A unknown object with ID 9 is 11.9 meters away at (11.3, 3.9). A vehicle with ID 14 is 42.5 meters away at (-41.5, 9.0). A pedestrian with ID 12 is 43.2 meters away at (-35.4, 24.8). A pedestrian with ID 13 is 44.0 meters away at (-35.8, 25.6). A pedestrian with ID 11 is 45.6 meters away at (-38.8, 24.1). A vehicle with ID 16 is 60.0 meters away at (-48.9, 34.7). A pedestrian with ID 10 is 61.6 meters away at (-54.6, 28.3). A vehicle with ID 32 is 67.7 meters away at (-65.4, 17.5). A vehicle with ID 19 is 78.9 meters away at (-78.1, 11.1).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 [1.2701356  0.37073568] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.2376595  0.36961403] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3602262  0.39415172] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.2446915  0.7138704] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 2.9315472 -4.9856877] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.39528993  1.0268458 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.3) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A unknown object with ID 9 is 11.6 meters away at (-4.7, 10.7). A unknown object with ID 5 is 13.9 meters away at (-7.4, 11.7). A pedestrian with ID 12 is 57.7 meters away at (-48.5, 31.3). A pedestrian with ID 13 is 58.5 meters away at (-48.7, 32.3). A pedestrian with ID 11 is 60.5 meters away at (-52.1, 30.9). A vehicle with ID 14 is 61.6 meters away at (-59.4, 16.5). A pedestrian with ID 2 is 76.3 meters away at (63.4, -42.5). A pedestrian with ID 3 is 77.0 meters away at (64.1, -42.6). A vehicle with ID 32 is 79.9 meters away at (-78.8, 13.0). A pedestrian with ID 10 is 81.6 meters away at (-73.2, 36.2).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.4250453  -0.25215596] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.4190526  -0.24370816] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3928027  -0.12980363] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.9638335   0.87063515] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.42324236 1.0916972 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.43968645 1.1518656 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 0.11523052 -6.046374  ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.1926622   0.54880154] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.7) 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 vehicle with ID 15 is 5.7 meters away at (5.3, 2.1). A unknown object with ID 19 is 13.0 meters away at (10.1, 8.0). A vehicle with ID 16 is 13.7 meters away at (6.4, 12.1). A pedestrian with ID 18 is 13.8 meters away at (11.5, 7.6). A vehicle with ID 17 is 24.5 meters away at (-8.9, -22.8). A pedestrian with ID 25 is 44.7 meters away at (16.2, 41.6). A vehicle with ID 27 is 47.9 meters away at (-26.6, -39.8). A vehicle with ID 26 is 59.3 meters away at (-11.1, -58.3). A vehicle with ID 24 is 69.8 meters away at (-8.5, 69.2). A vehicle with ID 12 is 73.1 meters away at (-33.5, -65.0).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.96553814 -2.3923163 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.17888369 1.3521937 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -0.9287808 -13.402615 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.32242215 0.9265083 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [1.0870373 7.837531 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.6025552 -9.303009 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  3.0071988 -13.087413 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [4.007694  6.8807344] 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 -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 15 is 6.2 meters away at (5.6, 2.6). A vehicle with ID 16 is 9.8 meters away at (5.0, 8.4). A pedestrian with ID 18 is 16.3 meters away at (12.2, 10.8). A vehicle with ID 27 is 32.6 meters away at (-23.6, -22.6). A vehicle with ID 24 is 43.5 meters away at (-4.6, 43.3). A vehicle with ID 17 is 50.2 meters away at (-10.4, -49.1). A vehicle with ID 26 is 76.9 meters away at (-11.3, -76.1).

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 [-0.62424225 -1.3525195 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.17770036 1.5077193 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [1.5943617 8.837247 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  0.52327085 -13.214082  ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -0.99001575 -13.470416  ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.12862727 -9.003142  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 15 is 6.6 meters away at (5.9, 2.9). A vehicle with ID 16 is 8.6 meters away at (4.5, 7.3). A unknown object with ID 7 is 14.1 meters away at (13.4, 4.5). A vehicle with ID 24 is 17.7 meters away at (-5.3, 16.9). A pedestrian with ID 18 is 18.6 meters away at (12.6, 13.7). A vehicle with ID 27 is 21.1 meters away at (-20.5, -4.9). A vehicle with ID 11 is 36.5 meters away at (-20.7, -30.0). A vehicle with ID 17 is 76.3 meters away at (-11.9, -75.4).

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 [-0.18915011 -0.36535826] m/s.The unknown object with ID 7 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 [ -0.97035706 -13.927329  ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00463205  1.258211  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.9884852 8.91014  ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.6616555 10.156376 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -0.26668775 -13.091412  ] 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, -0.7) 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 15 is 7.2 meters away at (6.4, 3.5). A vehicle with ID 16 is 8.7 meters away at (4.7, 7.4). A vehicle with ID 24 is 12.8 meters away at (-6.9, -10.8). A unknown object with ID 14 is 14.6 meters away at (11.2, 9.4). A unknown object with ID 7 is 14.7 meters away at (13.8, 5.0). A vehicle with ID 11 is 19.3 meters away at (-17.2, -8.8). A pedestrian with ID 18 is 21.4 meters away at (13.2, 16.8). A vehicle with ID 27 is 22.7 meters away at (-18.4, 13.4). A pedestrian with ID 23 is 47.0 meters away at (16.7, 43.9).

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 [-0.15673618 -0.28404143] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ -1.0172285 -14.294694 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 [ 1.5472466 10.046667 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.08494774 1.4701651 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0.7664628 9.024096 ] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.11856204 -1.2476306 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, -9.8) m/s. Its current heading (yaw) is -2.15 radians with an angular velocity of -2.15 rad/s.

The most relevant actors are: A vehicle with ID 5 is 9.3 meters away at (-7.9, -4.9). A vehicle with ID 6 is 19.4 meters away at (7.1, 18.0). A vehicle with ID 35 is 29.4 meters away at (-19.5, -22.0). A vehicle with ID 39 is 31.8 meters away at (-5.2, 31.3). A vehicle with ID 34 is 34.7 meters away at (22.3, 26.6). A vehicle with ID 18 is 39.4 meters away at (-36.8, -14.0). A vehicle with ID 11 is 41.4 meters away at (-26.6, -31.8). A vehicle with ID 7 is 43.0 meters away at (20.9, 37.6). A unknown object with ID 38 is 51.6 meters away at (51.3, 5.5). A vehicle with ID 37 is 57.6 meters away at (16.5, 55.2).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ -9.091611 -13.325794] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.007257 -13.037734] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -8.939757 -12.060831] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 9.783051 17.44028 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.54826  12.434843] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -8.662322 -12.070261] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -6.574626 -12.943527] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -9.2) m/s. Its current heading (yaw) is -2.21 radians with an angular velocity of -2.21 rad/s.

The most relevant actors are: A vehicle with ID 6 is 12.6 meters away at (4.0, 11.9). A vehicle with ID 15 is 16.1 meters away at (-14.1, 7.9). A vehicle with ID 5 is 17.5 meters away at (-12.6, -12.1). A vehicle with ID 27 is 19.8 meters away at (-17.0, 10.2). A vehicle with ID 30 is 29.5 meters away at (-27.7, -10.0). A vehicle with ID 18 is 30.8 meters away at (-6.7, 30.0). A vehicle with ID 35 is 36.0 meters away at (-24.2, -26.7). A vehicle with ID 31 is 36.5 meters away at (-34.0, -13.1). A vehicle with ID 7 is 37.6 meters away at (20.5, 31.5). A vehicle with ID 11 is 47.0 meters away at (-30.2, -36.0).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.831587 -12.461382] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [11.046742 15.374283] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.984682 -13.333322] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 8.830686 12.440773] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.08722  15.266159] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.057474 12.573497] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -9.308543 -12.205357] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.64674  11.453634] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -7.37575 -12.30338] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -8.377561 -11.325406] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -9.2) 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 6 is 5.4 meters away at (-0.5, 5.4). A vehicle with ID 16 is 18.4 meters away at (-18.2, 2.6). A vehicle with ID 17 is 22.7 meters away at (-22.6, 1.5). A vehicle with ID 5 is 26.5 meters away at (-16.6, -20.7). A vehicle with ID 31 is 28.4 meters away at (-2.9, 28.3). A vehicle with ID 7 is 31.5 meters away at (18.6, 25.4). A vehicle with ID 22 is 35.7 meters away at (-34.7, -8.2). A vehicle with ID 10 is 39.1 meters away at (20.2, 33.4). A vehicle with ID 30 is 39.3 meters away at (8.0, 38.5). A vehicle with ID 35 is 43.9 meters away at (-29.1, -32.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.232478 -12.257933] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [12.662392 17.288752] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.722647 13.433155] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -9.068226 -13.279367] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 8.550717 11.783443] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.457478 -11.77333 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.479415 8.841724] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-10.078642 -14.53306 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [10.635646 15.075605] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -9.340514 -12.107721] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -9.5) m/s. Its current heading (yaw) is -2.20 radians with an angular velocity of -2.20 rad/s.

The most relevant actors are: A vehicle with ID 6 is 4.5 meters away at (-4.5, -0.1). A vehicle with ID 25 is 20.2 meters away at (-19.9, 3.6). A vehicle with ID 7 is 26.6 meters away at (15.8, 21.4). A vehicle with ID 10 is 27.3 meters away at (13.4, 23.8). A vehicle with ID 22 is 29.3 meters away at (-7.3, 28.4). A vehicle with ID 5 is 35.0 meters away at (-20.3, -28.4). A vehicle with ID 17 is 47.5 meters away at (10.8, 46.3). A vehicle with ID 35 is 50.5 meters away at (-32.9, -38.3). A vehicle with ID 12 is 50.5 meters away at (30.5, 40.3). A vehicle with ID 11 is 55.8 meters away at (-33.9, -44.4).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.01386  -12.301812] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.09738  15.209828] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.2047415 -11.070172 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-10.544382 -13.861402] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [6.9392447 9.299054 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.660978 -13.323549] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 9.550673 12.863731] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ -9.0514555 -12.568325 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -8.493638 -11.46088 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ -7.6128006 -11.803509 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.9) m/s. Its current heading (yaw) is -1.58 radians with an angular velocity of -1.58 rad/s.

The most relevant actors are: A vehicle with ID 18 is 9.7 meters away at (-9.2, 3.1). A pedestrian with ID 17 is 10.5 meters away at (5.3, 9.1). A vehicle with ID 3 is 13.4 meters away at (-2.3, 13.2). A vehicle with ID 20 is 14.5 meters away at (-13.1, 6.0). A unknown object with ID 22 is 43.3 meters away at (-25.3, 35.1). A vehicle with ID 21 is 43.6 meters away at (2.5, 43.5). A vehicle with ID 23 is 46.3 meters away at (-0.5, 46.3). A vehicle with ID 19 is 47.2 meters away at (3.4, -47.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.16249634 -1.0581478 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.8065743 -3.5816522] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.01932531 -3.000517  ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -5.6) m/s. Its current heading (yaw) is -1.68 radians with an angular velocity of -1.68 rad/s.

The most relevant actors are: A vehicle with ID 3 is 15.9 meters away at (0.5, 15.9). A vehicle with ID 18 is 16.0 meters away at (-8.4, 13.7). A cyclist with ID 16 is 18.7 meters away at (6.3, 17.6). A pedestrian with ID 17 is 18.7 meters away at (6.5, 17.5). A vehicle with ID 20 is 20.6 meters away at (-12.2, 16.6). A vehicle with ID 19 is 36.7 meters away at (4.2, -36.5). A vehicle with ID 23 is 53.3 meters away at (0.5, 53.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.27923146 -4.470846  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 0.18383855 -1.223129  ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.14894417 -1.2534604 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 0.07453787 -0.49107432] 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, -5.3) m/s. Its current heading (yaw) is -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A vehicle with ID 3 is 17.0 meters away at (1.6, 16.9). A vehicle with ID 18 is 25.5 meters away at (-7.1, 24.5). A vehicle with ID 19 is 26.3 meters away at (5.4, -25.7). A pedestrian with ID 17 is 27.6 meters away at (8.4, 26.3). A cyclist with ID 16 is 27.7 meters away at (8.5, 26.4). A vehicle with ID 20 is 29.5 meters away at (-10.9, 27.4). A vehicle with ID 23 is 63.9 meters away at (1.8, 63.8). A vehicle with ID 7 is 65.2 meters away at (4.9, 65.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.17628   -5.5862694] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.26413167 -1.1598723 ] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [ 0.4890201 -1.0843513] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -5.3) m/s. Its current heading (yaw) is -1.67 radians with an angular velocity of -1.67 rad/s.

The most relevant actors are: A vehicle with ID 3 is 16.2 meters away at (2.6, 16.0). A vehicle with ID 19 is 16.5 meters away at (6.6, -15.1). A pedestrian with ID 11 is 17.5 meters away at (17.3, -2.2). A pedestrian with ID 14 is 25.0 meters away at (-16.3, 19.0). A vehicle with ID 18 is 35.6 meters away at (-5.8, 35.1). A pedestrian with ID 17 is 36.9 meters away at (10.1, 35.4). A pedestrian with ID 2 is 39.0 meters away at (9.9, -37.7). A vehicle with ID 20 is 39.3 meters away at (-9.6, 38.1). A vehicle with ID 23 is 74.5 meters away at (3.1, 74.5). A vehicle with ID 7 is 75.9 meters away at (6.2, 75.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.08492103 -5.8275704 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00080142 0.00015114] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.0010205  0.01465497] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.10437503 -0.6471145 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.09381812 -1.0620297 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 1.7) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A pedestrian with ID 69 is 21.4 meters away at (-21.2, -3.4). A vehicle with ID 64 is 21.6 meters away at (11.3, -18.4). A pedestrian with ID 71 is 23.0 meters away at (-22.5, -4.7). A pedestrian with ID 72 is 23.0 meters away at (-22.7, -3.6). A vehicle with ID 70 is 25.3 meters away at (-22.3, -11.8). A vehicle with ID 62 is 26.4 meters away at (-25.6, 6.4). A pedestrian with ID 51 is 26.5 meters away at (-10.3, -24.4). A pedestrian with ID 43 is 27.5 meters away at (-10.9, -25.3). A vehicle with ID 63 is 28.0 meters away at (-16.6, -22.5). A unknown object with ID 75 is 28.6 meters away at (-19.4, 21.0).

The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.1723201 -0.519228 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.1511772  -0.30844983] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.0493933 -0.3814939] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0.02478297 0.81258017] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 2.605157  -1.7763877] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.18324913 1.4525802 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.11272678 1.4245076 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 0.3) m/s. Its current heading (yaw) is 2.97 radians with an angular velocity of 2.97 rad/s.

The most relevant actors are: A pedestrian with ID 69 is 15.4 meters away at (-13.9, -6.8). A pedestrian with ID 72 is 16.7 meters away at (-15.2, -7.0). A pedestrian with ID 71 is 17.0 meters away at (-15.0, -8.0). A vehicle with ID 62 is 17.6 meters away at (-17.4, 2.1). A vehicle with ID 70 is 21.2 meters away at (-17.2, -12.5). A unknown object with ID 75 is 23.8 meters away at (-14.3, 19.0). A pedestrian with ID 51 is 24.1 meters away at (-5.3, -23.6). A pedestrian with ID 43 is 25.3 meters away at (-5.8, -24.6). A pedestrian with ID 52 is 25.3 meters away at (-25.3, 1.3). A pedestrian with ID 80 is 25.9 meters away at (-25.9, 0.4).

The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.98036   -0.7715556] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.170524  -0.7523691] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2470263  -0.73207057] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 1.1120102 -1.0125375] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0.04200466 0.58588123] m/s.The unknown object with ID 75 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 [0.09901365 1.5145816 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.12602238 1.4797541 ] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.6605278   0.09544151] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.1735607 -0.6934742] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -0.1) m/s. Its current heading (yaw) is -3.04 radians with an angular velocity of -3.04 rad/s.

The most relevant actors are: A pedestrian with ID 69 is 12.2 meters away at (-8.9, -8.4). A vehicle with ID 62 is 12.9 meters away at (-12.9, -0.2). A pedestrian with ID 72 is 13.1 meters away at (-9.9, -8.6). A pedestrian with ID 71 is 13.6 meters away at (-9.7, -9.6). A vehicle with ID 70 is 18.9 meters away at (-14.3, -12.4). A pedestrian with ID 51 is 20.7 meters away at (-2.8, -20.5). A pedestrian with ID 80 is 20.9 meters away at (-20.8, -1.2). A unknown object with ID 32 is 21.2 meters away at (-20.9, 3.7). A pedestrian with ID 81 is 21.6 meters away at (-21.5, -2.0). A pedestrian with ID 43 is 21.7 meters away at (-3.2, -21.4).

The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.2269036  -0.64643955] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.8906835 -1.4616965] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.2605989  -0.70419085] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.2013909 -0.7453484] m/s.The vehicle with ID 70 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 [-0.5026762  1.4327344] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.142828  -0.7715521] m/s.The unknown object with ID 32 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 [ 1.1095299  -0.78116614] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.40206376  1.4463311 ] m/s.

Instruction: Slight right turn approaching.