The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.9) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A unknown object with ID 65 is 4.6 meters away at (-4.5, -1.0). A unknown object with ID 48 is 5.2 meters away at (5.1, -0.7). A unknown object with ID 50 is 5.5 meters away at (1.4, -5.3). A unknown object with ID 47 is 7.8 meters away at (-3.7, 6.8). A vehicle with ID 5 is 11.3 meters away at (11.2, -1.1). A unknown object with ID 60 is 15.3 meters away at (-13.4, 7.4). A unknown object with ID 2 is 16.7 meters away at (10.5, -13.0). A unknown object with ID 49 is 20.3 meters away at (-13.4, 15.2). A unknown object with ID 52 is 28.0 meters away at (23.3, -15.6). A vehicle with ID 4 is 36.8 meters away at (11.6, -34.9).

The unknown object with ID 65 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 unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -3.7) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A unknown object with ID 2 is 4.2 meters away at (0.1, -4.2). A unknown object with ID 1 is 6.9 meters away at (6.6, -2.1). A vehicle with ID 5 is 7.7 meters away at (0.5, 7.6). A unknown object with ID 48 is 9.6 meters away at (-5.3, 8.0). A unknown object with ID 50 is 9.6 meters away at (-9.0, 3.5). A unknown object with ID 52 is 14.5 meters away at (12.8, -6.8). A unknown object with ID 65 is 16.9 meters away at (-14.9, 7.8). A unknown object with ID 47 is 21.0 meters away at (-14.1, 15.6). A vehicle with ID 4 is 26.1 meters away at (1.2, -26.1). A pedestrian with ID 34 is 26.9 meters away at (-9.9, 25.0).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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 [ 0.17109662 -0.12054946] 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 1.12 radians with an angular velocity of 1.12 rad/s.

The most relevant actors are: A vehicle with ID 45 is 22.6 meters away at (-9.8, -20.4). A unknown object with ID 42 is 26.7 meters away at (-4.2, 26.4). A unknown object with ID 43 is 27.3 meters away at (-2.3, 27.2). A unknown object with ID 44 is 27.4 meters away at (1.1, 27.4). A vehicle with ID 48 is 29.5 meters away at (10.7, 27.4). A cyclist with ID 49 is 30.3 meters away at (8.2, 29.2). A pedestrian with ID 46 is 31.0 meters away at (-22.0, -21.8). A vehicle with ID 47 is 36.2 meters away at (-20.2, 30.1). A unknown object with ID 50 is 39.0 meters away at (-24.4, 30.4). A unknown object with ID 51 is 40.2 meters away at (-25.0, 31.5).

The vehicle with ID 45 is traveling at a (x, y) velocity of [1.3317267 2.7898057] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-1.6112111 -2.706333 ] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.7899718 -3.3097532] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.50818515 -0.9692783 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.5) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 48 is 18.9 meters away at (4.9, 18.2). A vehicle with ID 45 is 19.6 meters away at (-8.9, -17.5). A cyclist with ID 49 is 20.1 meters away at (2.3, 20.0). A unknown object with ID 42 is 24.3 meters away at (-6.3, 23.4). A unknown object with ID 44 is 24.5 meters away at (-0.8, 24.4). A unknown object with ID 43 is 24.7 meters away at (-4.4, 24.3). A vehicle with ID 47 is 35.1 meters away at (-22.3, 27.0). A unknown object with ID 51 is 39.4 meters away at (-27.2, 28.4). A unknown object with ID 22 is 39.8 meters away at (-27.0, 29.3). A vehicle with ID 54 is 42.5 meters away at (16.3, 39.2).

The vehicle with ID 48 is traveling at a (x, y) velocity of [-2.64026  -4.702936] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.6600695 3.3183258] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1343699 -3.032467 ] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 [-2.786692 -4.606292] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 0.5) m/s. Its current heading (yaw) is 0.10 radians with an angular velocity of 0.10 rad/s.

The most relevant actors are: A vehicle with ID 48 is 9.8 meters away at (-9.7, 1.4). A cyclist with ID 49 is 13.1 meters away at (-9.6, 9.0). A vehicle with ID 45 is 18.2 meters away at (-12.5, -13.2). A unknown object with ID 44 is 22.2 meters away at (-8.5, 20.5). A unknown object with ID 43 is 23.5 meters away at (-12.1, 20.2). A unknown object with ID 42 is 23.9 meters away at (-14.0, 19.4). A vehicle with ID 54 is 25.3 meters away at (2.7, 25.1). A vehicle with ID 23 is 36.1 meters away at (-20.3, -29.8). A vehicle with ID 47 is 37.9 meters away at (-30.1, 23.0). A vehicle with ID 18 is 42.5 meters away at (12.3, 40.7).

The vehicle with ID 48 is traveling at a (x, y) velocity of [-3.926745 -7.534487] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1498141 -3.610872 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [2.542575  5.1386747] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 [-3.4628918 -6.149341 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [1.591124 3.80762 ] m/s.The vehicle with ID 47 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 [-2.8428936 -4.8726807] 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, -2.8) m/s. Its current heading (yaw) is -0.41 radians with an angular velocity of -0.41 rad/s.

The most relevant actors are: A vehicle with ID 45 is 18.5 meters away at (-18.5, 1.2). A pedestrian with ID 17 is 21.3 meters away at (-16.5, -13.6). A vehicle with ID 54 is 21.6 meters away at (-16.7, 13.7). A unknown object with ID 34 is 22.4 meters away at (18.9, -12.1). A unknown object with ID 27 is 23.9 meters away at (20.3, -12.7). A cyclist with ID 49 is 25.3 meters away at (-24.8, 4.9). A unknown object with ID 30 is 28.1 meters away at (24.1, -14.5). A unknown object with ID 44 is 30.9 meters away at (-20.0, 23.5). A vehicle with ID 23 is 32.4 meters away at (-27.8, -16.7). A pedestrian with ID 53 is 32.8 meters away at (32.8, -1.0).

The vehicle with ID 45 is traveling at a (x, y) velocity of [3.487342  6.5184817] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.6107512 1.5696698] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.095175 -8.015667] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.767969 -3.44054 ] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [2.775654  6.1240497] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.60482997 0.4442798 ] 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, -2.1) m/s. Its current heading (yaw) is -0.44 radians with an angular velocity of -0.44 rad/s.

The most relevant actors are: A vehicle with ID 44 is 10.1 meters away at (10.1, 0.2). A vehicle with ID 33 is 21.5 meters away at (3.6, -21.2). A vehicle with ID 9 is 21.6 meters away at (3.5, 21.3). A vehicle with ID 45 is 23.3 meters away at (1.4, -23.3). A unknown object with ID 41 is 23.5 meters away at (-23.1, -4.2). A vehicle with ID 36 is 24.1 meters away at (-13.1, 20.2). A vehicle with ID 42 is 24.2 meters away at (-20.3, 13.1). A vehicle with ID 43 is 25.9 meters away at (-19.6, 16.9). A vehicle with ID 54 is 26.6 meters away at (23.8, -11.8). A vehicle with ID 47 is 29.7 meters away at (15.1, 25.6).

The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.9926428  1.5998425] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.8085134 -4.4077854] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.4130738  4.527182 ] m/s.The vehicle with ID 42 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 54 is traveling at a (x, y) velocity of [-3.3152418  2.707642 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [1.1593356 1.3526378] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, -4.5) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A vehicle with ID 54 is 8.0 meters away at (8.0, 0.3). A vehicle with ID 44 is 9.2 meters away at (-1.9, 9.0). A vehicle with ID 33 is 15.5 meters away at (-6.1, -14.3). A vehicle with ID 45 is 18.3 meters away at (-8.3, -16.3). A vehicle with ID 9 is 20.9 meters away at (-10.3, 18.2). A vehicle with ID 64 is 25.7 meters away at (22.9, -11.7). A vehicle with ID 26 is 28.4 meters away at (1.1, -28.4). A vehicle with ID 30 is 31.9 meters away at (-2.4, -31.8). A vehicle with ID 55 is 32.0 meters away at (-5.0, 31.6). A unknown object with ID 41 is 33.1 meters away at (-33.0, 2.9).

The vehicle with ID 54 is traveling at a (x, y) velocity of [-2.5003834  2.1503413] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [-0.59413046 -6.2651086 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-4.0208178  3.4989364] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-3.6563098 -3.6852229] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.8) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 64 is 6.3 meters away at (4.7, 4.2). A vehicle with ID 54 is 15.0 meters away at (-6.9, 13.4). A vehicle with ID 33 is 18.4 meters away at (-18.0, -3.9). A vehicle with ID 26 is 21.0 meters away at (-10.9, -17.9). A vehicle with ID 45 is 21.1 meters away at (-20.3, -5.9). A vehicle with ID 22 is 23.7 meters away at (-22.3, -8.0). A vehicle with ID 44 is 24.1 meters away at (-14.0, 19.6). A vehicle with ID 9 is 24.1 meters away at (-18.9, 15.1). A vehicle with ID 30 is 25.8 meters away at (-14.4, -21.4). A vehicle with ID 32 is 28.4 meters away at (-25.5, -12.5).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-2.2137663  1.9885598] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.2375601   0.21896362] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 44 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 [ 4.2852225 -7.092274 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -6.9) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 64 is 23.6 meters away at (-13.0, 19.6). A vehicle with ID 9 is 25.0 meters away at (-20.8, 13.8). A vehicle with ID 26 is 26.1 meters away at (-25.6, -5.2). A vehicle with ID 39 is 26.7 meters away at (25.5, -7.9). A vehicle with ID 30 is 30.3 meters away at (-29.1, -8.6). A vehicle with ID 18 is 32.6 meters away at (-30.6, -11.3). A vehicle with ID 33 is 33.9 meters away at (-32.7, 8.8). A vehicle with ID 54 is 34.0 meters away at (-21.8, 26.1). A vehicle with ID 10 is 35.2 meters away at (28.6, -20.5). A vehicle with ID 45 is 35.7 meters away at (-35.0, 6.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-0.62768906  0.5362459 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.897365 -6.999583] m/s.The vehicle with ID 26 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 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.7304406 -2.3442879] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A pedestrian with ID 18 is 9.7 meters away at (3.7, -8.9). A pedestrian with ID 19 is 9.8 meters away at (2.7, -9.4). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A pedestrian with ID 12 is 15.6 meters away at (11.4, -10.7). A vehicle with ID 51 is 16.6 meters away at (-6.6, -15.3). A vehicle with ID 50 is 24.8 meters away at (-23.4, -8.3). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.2 meters away at (16.3, 23.0).

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 pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0562505   0.13500424] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.101671    0.25271234] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.8306593 -0.0803606] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-7.756901   3.6241276] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-8.853189   3.2098763] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

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

The most relevant actors are: A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 18 is 8.3 meters away at (1.6, -8.1). A pedestrian with ID 19 is 8.7 meters away at (0.7, -8.6). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 58 is 17.4 meters away at (-2.9, -17.1). A vehicle with ID 51 is 24.2 meters away at (-22.4, -9.1). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.3 meters away at (16.3, 23.0). A vehicle with ID 23 is 32.1 meters away at (14.9, -28.4).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0712124   0.49990824] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.0433942   0.34003562] m/s.The vehicle with ID 15 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 58 is traveling at a (x, y) velocity of [-7.1663814  3.8795264] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-8.033895   2.7845416] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.865677   6.5374894] 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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 7.2 meters away at (-0.5, -7.1). A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 19 is 8.3 meters away at (-1.4, -8.1). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 23 is 17.3 meters away at (-0.5, -17.3). A vehicle with ID 58 is 19.8 meters away at (-16.6, -10.9). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.3 meters away at (16.4, 23.1). A vehicle with ID 41 is 32.3 meters away at (18.6, -26.4).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0577968   0.51498747] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.107154   0.3324281] m/s.The vehicle with ID 15 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 [-7.398509   4.1204524] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.4878893  2.4550395] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 6.6 meters away at (-2.7, -6.0). A vehicle with ID 13 is 7.8 meters away at (2.6, 7.3). A pedestrian with ID 19 is 8.1 meters away at (-3.5, -7.3). A vehicle with ID 15 is 9.1 meters away at (6.1, 6.7). A vehicle with ID 21 is 13.8 meters away at (6.8, 11.9). A vehicle with ID 23 is 18.1 meters away at (-14.0, -11.5). A vehicle with ID 20 is 24.5 meters away at (7.3, -23.3). A vehicle with ID 37 is 28.2 meters away at (23.2, 16.0). A vehicle with ID 38 is 28.2 meters away at (16.4, 23.0). A vehicle with ID 58 is 29.4 meters away at (-28.7, -6.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.177208    0.49959984] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.056869   0.4850633] m/s.The vehicle with ID 15 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 [-6.3104978  2.3327367] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-6.1658483  4.255794 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-5.193434   1.7730246] 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, 2.1) 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 pedestrian with ID 23 is 25.3 meters away at (-11.6, -22.4). A vehicle with ID 22 is 26.7 meters away at (-15.0, -22.1). A vehicle with ID 21 is 32.3 meters away at (-14.7, 28.8). A vehicle with ID 25 is 33.7 meters away at (-26.8, -20.4). A unknown object with ID 28 is 35.6 meters away at (15.8, 31.9). A unknown object with ID 29 is 36.8 meters away at (25.9, 26.1). A unknown object with ID 30 is 37.9 meters away at (25.8, 27.7). A vehicle with ID 20 is 40.9 meters away at (-25.1, 32.3). A vehicle with ID 10 is 42.3 meters away at (42.2, -2.0). A vehicle with ID 31 is 42.4 meters away at (41.5, 9.1).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.8801062 1.0201837] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 10 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.

Instruction: right u-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 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A pedestrian with ID 23 is 25.9 meters away at (-12.0, -23.0). A vehicle with ID 22 is 30.1 meters away at (-17.3, -24.7). A vehicle with ID 21 is 31.1 meters away at (-16.9, 26.1). A unknown object with ID 28 is 32.3 meters away at (13.6, 29.3). A unknown object with ID 29 is 33.4 meters away at (23.7, 23.5). A unknown object with ID 30 is 34.4 meters away at (23.6, 25.1). A vehicle with ID 18 is 36.6 meters away at (-21.5, -29.6). A vehicle with ID 25 is 37.1 meters away at (-29.1, -23.1). A unknown object with ID 7 is 37.7 meters away at (28.0, 25.3). A vehicle with ID 1 is 38.5 meters away at (-32.3, 20.9).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.96385384 1.0396892 ] 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 unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 25 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) m/s. Its current heading (yaw) is 1.23 radians with an angular velocity of 1.23 rad/s.

The most relevant actors are: A pedestrian with ID 23 is 26.5 meters away at (-11.8, -23.8). A unknown object with ID 28 is 29.1 meters away at (12.1, 26.4). A vehicle with ID 21 is 29.8 meters away at (-18.4, 23.5). A unknown object with ID 29 is 30.2 meters away at (22.2, 20.5). A unknown object with ID 30 is 31.3 meters away at (22.1, 22.1). A vehicle with ID 22 is 33.4 meters away at (-19.1, -27.3). A vehicle with ID 5 is 37.9 meters away at (37.8, 3.2). A vehicle with ID 1 is 38.6 meters away at (-33.9, 18.4). A vehicle with ID 10 is 39.1 meters away at (38.3, -7.6). A vehicle with ID 20 is 39.5 meters away at (-28.7, 27.1).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.9323562 0.8917673] m/s.The unknown object with ID 28 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 unknown object with ID 29 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 4.5) m/s. Its current heading (yaw) is 2.03 radians with an angular velocity of 2.03 rad/s.

The most relevant actors are: A unknown object with ID 28 is 22.6 meters away at (12.6, 18.7). A vehicle with ID 21 is 23.9 meters away at (-18.0, 15.8). A pedestrian with ID 23 is 30.9 meters away at (-9.4, -29.5). A vehicle with ID 20 is 34.3 meters away at (-28.3, 19.5). A vehicle with ID 1 is 35.1 meters away at (-33.5, 10.7). A vehicle with ID 33 is 36.8 meters away at (23.0, 28.7). A vehicle with ID 5 is 38.4 meters away at (38.2, -4.5). A vehicle with ID 22 is 39.7 meters away at (-18.6, -35.0). A vehicle with ID 10 is 41.8 meters away at (38.9, -15.3). A vehicle with ID 25 is 45.0 meters away at (-30.4, -33.3).

The unknown object with ID 28 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 [1.1166182 1.0176777] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 25 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 (0.9, -4.2) m/s. Its current heading (yaw) is -1.36 radians with an angular velocity of -1.36 rad/s.

The most relevant actors are: A vehicle with ID 88 is 13.1 meters away at (12.9, -1.9). A vehicle with ID 98 is 13.1 meters away at (8.1, 10.3). A vehicle with ID 86 is 15.6 meters away at (15.4, -2.2). A vehicle with ID 104 is 16.9 meters away at (13.9, 9.6). A pedestrian with ID 102 is 17.2 meters away at (10.6, 13.4). A vehicle with ID 90 is 18.5 meters away at (15.9, -9.4). A pedestrian with ID 63 is 18.7 meters away at (12.9, 13.5). A vehicle with ID 106 is 18.9 meters away at (16.5, 9.2). A pedestrian with ID 92 is 20.0 meters away at (14.2, 14.1). A vehicle with ID 89 is 20.3 meters away at (18.2, -8.9).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [ 0.01079105 -0.0288444 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 0.0081305 -0.0155644] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.5) m/s. Its current heading (yaw) is -1.31 radians with an angular velocity of -1.31 rad/s.

The most relevant actors are: A vehicle with ID 88 is 12.3 meters away at (11.5, 4.4). A vehicle with ID 86 is 14.6 meters away at (14.0, 4.0). A vehicle with ID 90 is 14.8 meters away at (14.5, -3.2). A vehicle with ID 89 is 17.0 meters away at (16.8, -2.6). A vehicle with ID 98 is 17.9 meters away at (6.7, 16.6). A vehicle with ID 57 is 19.1 meters away at (18.7, 3.7). A vehicle with ID 104 is 20.2 meters away at (12.5, 15.9). A vehicle with ID 106 is 21.6 meters away at (15.0, 15.5). A pedestrian with ID 102 is 21.8 meters away at (9.2, 19.7). A vehicle with ID 58 is 21.8 meters away at (21.5, 3.8).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [-0.02921306  0.04614693] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -2.1) m/s. Its current heading (yaw) is -0.96 radians with an angular velocity of -0.96 rad/s.

The most relevant actors are: A vehicle with ID 90 is 12.7 meters away at (12.6, 1.5). A vehicle with ID 88 is 13.2 meters away at (9.5, 9.1). A vehicle with ID 86 is 14.9 meters away at (12.1, 8.8). A vehicle with ID 89 is 15.0 meters away at (14.9, 2.1). A vehicle with ID 57 is 18.7 meters away at (16.8, 8.2). A vehicle with ID 58 is 21.5 meters away at (19.6, 8.6). A vehicle with ID 98 is 21.9 meters away at (4.9, 21.3). A vehicle with ID 104 is 23.2 meters away at (10.6, 20.6). A vehicle with ID 101 is 23.3 meters away at (19.3, -13.0). A vehicle with ID 28 is 23.4 meters away at (21.8, 8.4).

The vehicle with ID 90 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.9) m/s. Its current heading (yaw) is -0.23 radians with an angular velocity of -0.23 rad/s.

The most relevant actors are: A vehicle with ID 90 is 9.2 meters away at (7.6, 5.1). A vehicle with ID 89 is 11.4 meters away at (9.9, 5.7). A vehicle with ID 88 is 13.4 meters away at (4.6, 12.6). A vehicle with ID 86 is 14.2 meters away at (7.1, 12.3). A vehicle with ID 57 is 16.8 meters away at (11.9, 11.9). A vehicle with ID 101 is 17.2 meters away at (14.3, -9.4). A vehicle with ID 58 is 19.0 meters away at (14.6, 12.1). A vehicle with ID 100 is 19.0 meters away at (16.8, -9.0). A vehicle with ID 28 is 20.6 meters away at (16.9, 11.8). A pedestrian with ID 112 is 21.3 meters away at (16.6, -13.4).

The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.67381215 -1.0559591 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 3.4) m/s. Its current heading (yaw) is 1.88 radians with an angular velocity of 1.88 rad/s.

The most relevant actors are: A vehicle with ID 7 is 19.3 meters away at (7.9, 17.6). A vehicle with ID 6 is 19.9 meters away at (7.4, -18.4).

The vehicle with ID 7 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 [-2.469969   6.0008526] 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, 2.9) m/s. Its current heading (yaw) is 1.78 radians with an angular velocity of 1.78 rad/s.

The most relevant actors are: A vehicle with ID 6 is 13.6 meters away at (4.6, -12.8). A vehicle with ID 7 is 15.1 meters away at (9.5, 11.7).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.9453002  5.290415 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 4.5) m/s. Its current heading (yaw) is 1.59 radians with an angular velocity of 1.59 rad/s.

The most relevant actors are: A vehicle with ID 6 is 11.0 meters away at (2.1, -10.8). A vehicle with ID 7 is 11.2 meters away at (10.4, 4.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.1352243  4.246447 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 5.0) m/s. Its current heading (yaw) is 1.64 radians with an angular velocity of 1.64 rad/s.

The most relevant actors are: A vehicle with ID 7 is 12.1 meters away at (10.7, -5.5). A vehicle with ID 6 is 13.5 meters away at (2.7, -13.3). A unknown object with ID 2 is 49.6 meters away at (16.0, -46.9).

The vehicle with ID 7 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 [1.5063467 2.917092 ] m/s.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 (1.1, 3.5) m/s. Its current heading (yaw) is 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A cyclist with ID 79 is 12.4 meters away at (-10.7, 6.4). A pedestrian with ID 83 is 14.7 meters away at (-7.0, 12.9). A unknown object with ID 82 is 15.0 meters away at (-11.4, 9.7). A vehicle with ID 91 is 18.8 meters away at (-16.4, -9.3). A unknown object with ID 84 is 19.5 meters away at (-15.5, 11.9). A vehicle with ID 86 is 22.2 meters away at (14.2, 17.0). A vehicle with ID 80 is 23.5 meters away at (-22.6, 6.6). A pedestrian with ID 85 is 27.6 meters away at (-13.1, -24.3). A vehicle with ID 92 is 30.3 meters away at (-30.0, -4.3). A pedestrian with ID 90 is 31.5 meters away at (-15.8, -27.3).

The cyclist with ID 79 is traveling at a (x, y) velocity of [-4.0507226  2.567261 ] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.26285583 -0.74779934] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 6.52956   -4.5875487] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-9.919358   7.4542947] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.10370236 -0.03204589] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.15545647 0.7644757 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 5.0) m/s. Its current heading (yaw) is 1.04 radians with an angular velocity of 1.04 rad/s.

The most relevant actors are: A pedestrian with ID 83 is 11.5 meters away at (-11.0, 3.1). A vehicle with ID 86 is 12.9 meters away at (9.8, 8.4). A unknown object with ID 82 is 16.1 meters away at (-16.0, 1.9). A unknown object with ID 84 is 20.4 meters away at (-20.0, 4.0). A vehicle with ID 24 is 23.5 meters away at (14.7, 18.4). A pedestrian with ID 50 is 24.1 meters away at (-2.1, 24.0). A cyclist with ID 79 is 24.2 meters away at (-23.7, 4.8). A vehicle with ID 91 is 28.2 meters away at (-8.1, -27.0). A vehicle with ID 92 is 36.7 meters away at (-34.7, -12.0). A pedestrian with ID 85 is 37.1 meters away at (-18.3, -32.2).

The pedestrian with ID 83 is traveling at a (x, y) velocity of [ 0.13759297 -0.7671048 ] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.09244613 -0.03351555] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [-3.7932987  3.4660814] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 6.963271  -5.1379375] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.04030086  0.0468455 ] 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, 7.4) m/s. Its current heading (yaw) is 1.08 radians with an angular velocity of 1.08 rad/s.

The most relevant actors are: A vehicle with ID 86 is 4.9 meters away at (2.6, -4.2). A vehicle with ID 24 is 9.6 meters away at (7.7, 5.8). A pedestrian with ID 83 is 21.0 meters away at (-17.8, -11.1). A unknown object with ID 82 is 25.6 meters away at (-23.2, -10.7). A unknown object with ID 84 is 28.6 meters away at (-27.3, -8.5). A vehicle with ID 44 is 32.4 meters away at (10.3, 30.7). A vehicle with ID 78 is 33.0 meters away at (19.3, 26.8). A cyclist with ID 79 is 39.8 meters away at (-39.8, -1.2). A unknown object with ID 60 is 45.1 meters away at (16.1, -42.1). A vehicle with ID 92 is 48.6 meters away at (-41.9, -24.6).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.01122544 -0.63113695] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 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 [-4.7128906 -7.5375423] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [-4.2800922  3.4180658] m/s.The unknown object with ID 60 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 8.6) m/s. Its current heading (yaw) is 1.08 radians with an angular velocity of 1.08 rad/s.

The most relevant actors are: A vehicle with ID 44 is 7.4 meters away at (-7.4, -0.8). A vehicle with ID 24 is 10.3 meters away at (-1.1, -10.3). A vehicle with ID 78 is 15.2 meters away at (10.7, 10.8). A vehicle with ID 73 is 21.1 meters away at (-6.3, -20.2). A vehicle with ID 38 is 29.4 meters away at (11.0, 27.2). A pedestrian with ID 11 is 36.6 meters away at (7.3, 35.9). A pedestrian with ID 9 is 38.8 meters away at (9.2, 37.7). A pedestrian with ID 83 is 39.2 meters away at (-27.8, -27.6). A vehicle with ID 23 is 41.2 meters away at (20.0, 36.0). A unknown object with ID 82 is 41.8 meters away at (-32.0, -26.8).

The vehicle with ID 44 is traveling at a (x, y) velocity of [-4.1169906 -7.3487287] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.6311004 -6.8775597] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.62038565 -1.164922  ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.6454239 -1.0886956] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-0.8945442  0.5758531] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [3.0063012 5.1380124] m/s.The unknown object with ID 82 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 (-1.7, 3.6) m/s. Its current heading (yaw) is 2.02 radians with an angular velocity of 2.02 rad/s.

The most relevant actors are: A unknown object with ID 2 is 33.1 meters away at (23.9, -23.0). A vehicle with ID 13 is 39.3 meters away at (21.9, -32.6). A vehicle with ID 9 is 47.4 meters away at (27.5, -38.7). A pedestrian with ID 8 is 47.6 meters away at (32.0, -35.2). A vehicle with ID 12 is 64.8 meters away at (43.6, -48.0).

The unknown object with ID 2 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.6287359 -0.6666522] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 2.7) m/s. Its current heading (yaw) is 2.17 radians with an angular velocity of 2.17 rad/s.

The most relevant actors are: A unknown object with ID 3 is 25.2 meters away at (-8.3, 23.8). A vehicle with ID 13 is 46.6 meters away at (25.6, -38.9). A vehicle with ID 9 is 54.7 meters away at (31.2, -44.9). A pedestrian with ID 8 is 56.8 meters away at (37.1, -43.0). A vehicle with ID 12 is 71.9 meters away at (47.2, -54.3).

The unknown object with ID 3 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.7124797 -0.6877716] m/s.The vehicle with ID 12 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 (-2.3, 1.5) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 13 is 52.5 meters away at (29.6, -43.4). A vehicle with ID 9 is 60.8 meters away at (35.3, -49.5). A pedestrian with ID 8 is 64.9 meters away at (42.3, -49.1). A vehicle with ID 12 is 77.9 meters away at (51.2, -58.8).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.65512717 -0.86884046] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 0.5) m/s. Its current heading (yaw) is 2.93 radians with an angular velocity of 2.93 rad/s.

The most relevant actors are: A vehicle with ID 13 is 56.8 meters away at (34.5, -45.2). A vehicle with ID 9 is 65.2 meters away at (40.1, -51.3). A pedestrian with ID 8 is 71.6 meters away at (48.4, -52.8). A vehicle with ID 12 is 82.6 meters away at (56.1, -60.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.80186576 -0.76912314] m/s.The vehicle with ID 12 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 (6.1, -5.2) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A vehicle with ID 49 is 7.8 meters away at (7.3, 2.7). A pedestrian with ID 51 is 9.1 meters away at (9.1, 0.6). A vehicle with ID 48 is 21.5 meters away at (-13.8, 16.5). A vehicle with ID 53 is 30.0 meters away at (-25.9, -15.1). A vehicle with ID 23 is 31.8 meters away at (-11.6, 29.7). A vehicle with ID 44 is 33.4 meters away at (-9.7, 31.9). A vehicle with ID 57 is 36.5 meters away at (-3.5, -36.3). A unknown object with ID 54 is 47.0 meters away at (-31.5, 34.9). A unknown object with ID 55 is 48.8 meters away at (-32.9, 36.1). A vehicle with ID 9 is 65.6 meters away at (1.6, -65.6).

The vehicle with ID 49 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 [0.7101568  0.31407022] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.9224095  6.0225964] m/s.The vehicle with ID 53 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 44 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 unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 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 (4.7, -4.0) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A pedestrian with ID 51 is 10.0 meters away at (-1.3, 9.9). A vehicle with ID 49 is 12.3 meters away at (-3.5, 11.8). A vehicle with ID 57 is 30.9 meters away at (-14.6, -27.3). A vehicle with ID 23 is 44.9 meters away at (-22.5, 38.8). A vehicle with ID 48 is 54.9 meters away at (-39.4, 38.2). A unknown object with ID 54 is 61.1 meters away at (-42.3, 44.1). A unknown object with ID 55 is 62.9 meters away at (-43.8, 45.2). A vehicle with ID 52 is 77.9 meters away at (-59.4, 50.5).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.1576978  -0.11328094] m/s.The vehicle with ID 49 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-7.710572  6.610237] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.672144 -5.837334] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -1.7) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A pedestrian with ID 51 is 17.4 meters away at (-7.9, 15.5). A pedestrian with ID 8 is 19.6 meters away at (-8.4, 17.7). A vehicle with ID 49 is 20.2 meters away at (-10.3, 17.4). A vehicle with ID 57 is 30.4 meters away at (-21.4, -21.6). A vehicle with ID 23 is 53.4 meters away at (-29.4, 44.6). A vehicle with ID 52 is 68.9 meters away at (-52.6, 44.5). A vehicle with ID 25 is 69.3 meters away at (-52.8, 44.8). A unknown object with ID 54 is 69.9 meters away at (-49.0, 49.8). A unknown object with ID 55 is 71.6 meters away at (-50.4, 50.9). A vehicle with ID 26 is 75.6 meters away at (73.6, -17.3).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.0270409  -0.01698466] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.01247595 -0.00020806] m/s.The vehicle with ID 49 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.6483235 -5.850379 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.6665664 -5.8708596] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A pedestrian with ID 51 is 19.7 meters away at (-9.6, 17.1). A pedestrian with ID 8 is 21.7 meters away at (-10.3, 19.1). A vehicle with ID 49 is 22.0 meters away at (-11.8, 18.6). A vehicle with ID 52 is 53.5 meters away at (-41.0, 34.4). A vehicle with ID 25 is 54.0 meters away at (-41.4, 34.7). A pedestrian with ID 35 is 65.4 meters away at (-31.9, -57.1). A vehicle with ID 32 is 67.4 meters away at (-29.2, -60.7). A vehicle with ID 26 is 73.8 meters away at (72.0, -16.0). A vehicle with ID 1 is 76.1 meters away at (67.8, -34.6). A vehicle with ID 19 is 78.3 meters away at (72.5, -29.4).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.19251394  0.36205095] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.12767796  0.00272119] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.467214  -5.5172834] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 6.5131607 -5.5496974] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.8026433 0.9788231] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -7.2) 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 pedestrian with ID 34 is 6.6 meters away at (6.2, 2.3). A pedestrian with ID 32 is 7.1 meters away at (6.2, 3.5). A pedestrian with ID 33 is 7.3 meters away at (6.7, 3.0). A vehicle with ID 55 is 19.6 meters away at (-18.3, -6.9). A cyclist with ID 35 is 20.6 meters away at (-17.3, 11.2). A pedestrian with ID 37 is 24.0 meters away at (-2.6, 23.8). A pedestrian with ID 36 is 26.7 meters away at (9.4, 25.0). A vehicle with ID 39 is 28.0 meters away at (-26.4, 9.4). A vehicle with ID 38 is 28.9 meters away at (25.6, 13.4). A unknown object with ID 40 is 31.2 meters away at (0.2, 31.2).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7504119  -0.22126758] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.61825526 -0.23788229] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6803408 -0.2603572] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0.91826487 1.460054  ] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.8725586 -0.5082339] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00209917  0.00415112] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.78826237 -0.02175873] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-8.967905  -0.3973816] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -7.7) m/s. Its current heading (yaw) is -2.09 radians with an angular velocity of -2.09 rad/s.

The most relevant actors are: A vehicle with ID 55 is 12.8 meters away at (-8.7, 9.3). A pedestrian with ID 34 is 22.1 meters away at (14.1, 17.0). A pedestrian with ID 33 is 23.1 meters away at (14.9, 17.7). A pedestrian with ID 32 is 24.0 meters away at (15.1, 18.6). A cyclist with ID 35 is 35.0 meters away at (-23.7, 25.7). A pedestrian with ID 37 is 39.4 meters away at (6.4, 38.9). A vehicle with ID 39 is 43.2 meters away at (-35.5, 24.6). A vehicle with ID 38 is 44.8 meters away at (34.6, 28.4). A pedestrian with ID 36 is 45.6 meters away at (20.7, 40.6). A unknown object with ID 18 is 49.9 meters away at (-46.2, 18.9).

The vehicle with ID 55 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 [-0.14301553 -0.07498743] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.1725562  -0.08827829] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.06558649  0.00909447] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.7167716  -0.27711964] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01068114  0.01329342] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-9.05408    0.1309416] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.371916   0.31004608] m/s.The unknown object with ID 18 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 (-4.6, -8.1) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 55 is 25.1 meters away at (0.2, 25.1). A vehicle with ID 22 is 33.0 meters away at (-25.1, -21.4). A pedestrian with ID 34 is 40.3 meters away at (23.2, 32.9). A unknown object with ID 19 is 40.4 meters away at (-11.8, -38.7). A pedestrian with ID 32 is 41.5 meters away at (23.7, 34.1). A cyclist with ID 35 is 50.8 meters away at (-30.0, 41.0). A pedestrian with ID 37 is 56.7 meters away at (15.3, 54.6). A pedestrian with ID 36 is 65.2 meters away at (32.6, 56.5). A vehicle with ID 54 is 69.1 meters away at (-29.7, -62.4). A pedestrian with ID 44 is 71.7 meters away at (47.3, 53.8).

The vehicle with ID 55 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 [3.330036 6.219037] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.05161916  0.19327173] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.01780399 -0.00776258] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [-7.209697  -0.0107267] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.0190464  -0.02622473] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.5141335  0.11899189] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ -6.1354413 -13.857021 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [ 0.17144588 -0.1127594 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -8.4) m/s. Its current heading (yaw) is -2.03 radians with an angular velocity of -2.03 rad/s.

The most relevant actors are: A vehicle with ID 22 is 13.0 meters away at (-9.1, 9.2). A unknown object with ID 19 is 22.3 meters away at (-2.9, -22.1). A vehicle with ID 28 is 32.0 meters away at (-23.9, -21.2). A vehicle with ID 55 is 42.6 meters away at (9.0, 41.7). A pedestrian with ID 34 is 59.3 meters away at (32.3, 49.7). A pedestrian with ID 32 is 60.2 meters away at (32.5, 50.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [3.604868  6.9899783] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [3.7153695 7.6270556] m/s.The vehicle with ID 55 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 [ 0.01868679 -0.00843703] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.03786307 -0.01183915] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -4.8) m/s. Its current heading (yaw) is -2.55 radians with an angular velocity of -2.55 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.3 meters away at (1.6, -2.9). A unknown object with ID 10 is 6.2 meters away at (-6.1, -0.5). A vehicle with ID 24 is 6.6 meters away at (3.4, -5.7). A vehicle with ID 29 is 12.6 meters away at (-6.7, -10.7). A vehicle with ID 32 is 14.8 meters away at (-5.5, -13.7). A unknown object with ID 22 is 15.1 meters away at (12.7, -8.3). A unknown object with ID 11 is 20.4 meters away at (20.3, -1.3). A vehicle with ID 33 is 21.7 meters away at (-14.4, -16.3). A vehicle with ID 39 is 29.3 meters away at (-17.6, -23.5). A vehicle with ID 36 is 29.6 meters away at (-20.4, -21.4).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.5944432 1.6644524] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [2.0131896 2.0225222] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -5.8) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 33 is 5.3 meters away at (-0.1, -5.3). A vehicle with ID 29 is 7.5 meters away at (7.5, 0.4). A vehicle with ID 39 is 9.7 meters away at (-0.1, -9.7). A vehicle with ID 32 is 10.9 meters away at (10.9, -0.7). A vehicle with ID 36 is 12.0 meters away at (-6.0, -10.4). A vehicle with ID 23 is 17.7 meters away at (15.8, 8.1). A vehicle with ID 24 is 18.4 meters away at (17.6, 5.3). A vehicle with ID 6 is 19.4 meters away at (-9.0, -17.2). A vehicle with ID 40 is 19.5 meters away at (-11.7, -15.7). A vehicle with ID 21 is 48.3 meters away at (37.9, 29.9).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [1.2862767 1.2853961] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.3378568 2.4117367] m/s.The vehicle with ID 40 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 [-0.3471305   0.38286692] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -6.2) 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 vehicle with ID 40 is 4.4 meters away at (3.0, -3.2). A vehicle with ID 36 is 9.0 meters away at (8.8, 2.1). A vehicle with ID 6 is 9.7 meters away at (9.6, -1.3). A unknown object with ID 12 is 14.6 meters away at (2.5, -14.4). A vehicle with ID 33 is 16.4 meters away at (14.7, 7.3). A vehicle with ID 39 is 18.2 meters away at (17.5, 5.2). A vehicle with ID 17 is 24.0 meters away at (-14.9, -18.8). A vehicle with ID 29 is 25.7 meters away at (22.3, 12.9). A vehicle with ID 32 is 28.6 meters away at (26.0, 11.9). A vehicle with ID 23 is 37.0 meters away at (30.6, 20.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.0099711 1.1310427] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-0.20435399  0.25759068] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.75106215 0.9377088 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [5.293625  4.0657215] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.20149957  0.24824132] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, -6.5) m/s. Its current heading (yaw) is -2.45 radians with an angular velocity of -2.45 rad/s.

The most relevant actors are: A vehicle with ID 7 is 10.7 meters away at (-4.9, -9.4). A vehicle with ID 17 is 11.4 meters away at (11.4, 1.2). A unknown object with ID 12 is 17.9 meters away at (17.8, -1.2). A vehicle with ID 40 is 20.9 meters away at (18.3, 10.1). A unknown object with ID 20 is 24.2 meters away at (23.9, 3.7). A vehicle with ID 36 is 28.7 meters away at (24.1, 15.6). A vehicle with ID 6 is 31.0 meters away at (27.5, 14.3). A vehicle with ID 33 is 36.6 meters away at (30.1, 20.8). A vehicle with ID 39 is 39.2 meters away at (34.2, 19.2). A vehicle with ID 29 is 45.9 meters away at (37.5, 26.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [4.9230356 4.71399  ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [4.4778185 3.1574614] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.2942838   0.30867842] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.6628699 0.9568016] m/s.The vehicle with ID 33 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.0) 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 unknown object with ID 2 is 40.1 meters away at (-38.4, 11.4). A vehicle with ID 37 is 40.2 meters away at (25.6, -31.1). A unknown object with ID 12 is 41.8 meters away at (-39.9, 12.4). A vehicle with ID 45 is 44.7 meters away at (-42.8, 13.1). A vehicle with ID 46 is 48.3 meters away at (-47.4, 9.5). A vehicle with ID 47 is 49.3 meters away at (-47.1, 14.5). A vehicle with ID 28 is 53.7 meters away at (-53.5, 4.7). A vehicle with ID 29 is 54.0 meters away at (-53.2, 9.5). A vehicle with ID 49 is 54.6 meters away at (-52.6, 14.6). A vehicle with ID 20 is 60.4 meters away at (39.2, -46.0).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-6.8553114  8.268706 ] m/s.The unknown object with ID 12 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [-7.9457583 10.62417  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 3.1) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A unknown object with ID 2 is 31.1 meters away at (-31.0, 2.3). A vehicle with ID 37 is 32.7 meters away at (20.7, -25.2). A unknown object with ID 12 is 32.7 meters away at (-32.5, 3.3). A vehicle with ID 45 is 35.4 meters away at (-35.2, 4.0). A vehicle with ID 46 is 40.0 meters away at (-40.0, 0.3). A vehicle with ID 47 is 40.0 meters away at (-39.7, 5.4). A vehicle with ID 49 is 45.5 meters away at (-45.1, 5.4). A vehicle with ID 29 is 45.7 meters away at (-45.7, 0.3). A vehicle with ID 20 is 46.1 meters away at (31.0, -34.1). A vehicle with ID 28 is 46.2 meters away at (-46.0, -4.5).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.304925  6.507153] m/s.The unknown object with ID 12 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.820344 10.333342] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 0.6) 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 37 is 23.0 meters away at (14.5, -17.8). A vehicle with ID 20 is 25.4 meters away at (18.3, -17.6). A unknown object with ID 2 is 28.1 meters away at (-28.1, -1.3). A unknown object with ID 12 is 29.5 meters away at (-29.5, -0.3). A vehicle with ID 45 is 32.3 meters away at (-32.3, 0.4). A vehicle with ID 47 is 36.8 meters away at (-36.7, 1.9). A vehicle with ID 46 is 37.2 meters away at (-37.1, -3.2). A vehicle with ID 22 is 41.7 meters away at (-34.4, 23.5). A vehicle with ID 49 is 42.3 meters away at (-42.3, 1.9). A vehicle with ID 29 is 43.0 meters away at (-42.9, -3.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.5979939  4.3479943] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.786723   9.6942425] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.13028872 -7.7700906 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) 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 20 is 3.3 meters away at (3.2, 1.0). A vehicle with ID 7 is 13.7 meters away at (-11.0, 8.1). A vehicle with ID 37 is 14.7 meters away at (9.3, -11.5). A unknown object with ID 2 is 27.7 meters away at (-27.7, -1.8). A unknown object with ID 12 is 29.1 meters away at (-29.1, -0.8). A vehicle with ID 13 is 31.1 meters away at (21.5, -22.5). A vehicle with ID 45 is 31.9 meters away at (-31.9, -0.1). A vehicle with ID 47 is 36.3 meters away at (-36.3, 1.3). A vehicle with ID 46 is 36.9 meters away at (-36.7, -3.8). A vehicle with ID 22 is 41.1 meters away at (-40.3, 8.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-7.407418  9.251341] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 11.525486 -14.070024] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.9114523  2.347373 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.7250648  9.808136 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-6.236202 -6.778306] 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, -4.0) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 26.4 meters away at (11.9, -23.6). A pedestrian with ID 21 is 26.8 meters away at (13.0, -23.4). A pedestrian with ID 22 is 29.7 meters away at (-28.4, -8.6). A pedestrian with ID 31 is 30.5 meters away at (-3.7, -30.3). A pedestrian with ID 27 is 35.7 meters away at (-35.2, -6.3). A pedestrian with ID 37 is 39.6 meters away at (11.6, -37.8). A pedestrian with ID 36 is 40.9 meters away at (13.4, -38.6). A pedestrian with ID 32 is 41.4 meters away at (8.6, -40.5). A pedestrian with ID 38 is 44.9 meters away at (9.6, -43.9). A pedestrian with ID 35 is 69.6 meters away at (11.1, 68.7).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.31669647  1.1171739 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.22933662  1.0553031 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.11051466 1.5324954 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9329673 -1.172822 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.162952   0.7808345] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.11652353 -0.6478111 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.02907242 0.65201384] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.9169184   0.39763144] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.17931081 -0.33989075] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.22053073 1.038627  ] 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, -1.2) m/s. Its current heading (yaw) is -1.85 radians with an angular velocity of -1.85 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 20.3 meters away at (12.0, -16.4). A pedestrian with ID 21 is 20.4 meters away at (12.7, -15.9). A pedestrian with ID 31 is 26.9 meters away at (-1.1, -26.8). A pedestrian with ID 22 is 27.4 meters away at (-27.4, -0.4). A pedestrian with ID 36 is 35.2 meters away at (13.8, -32.4). A pedestrian with ID 32 is 35.3 meters away at (7.0, -34.6). A pedestrian with ID 27 is 35.3 meters away at (-35.3, 1.2). A pedestrian with ID 37 is 35.7 meters away at (11.9, -33.7). A pedestrian with ID 38 is 40.3 meters away at (10.0, -39.0). A vehicle with ID 5 is 61.5 meters away at (-57.9, 20.7).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.48027885  0.93644994] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.51055026  1.0384837 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3052925  -0.27540633] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.23070338 1.3670502 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.16676739  0.6735576 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.308133    0.60423034] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.43948507  1.179087  ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.24200349 -0.3740557 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.01251989 -0.02331977] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.2) m/s. Its current heading (yaw) is -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 17.3 meters away at (11.1, -13.2). A pedestrian with ID 21 is 17.3 meters away at (11.8, -12.6). A pedestrian with ID 31 is 26.6 meters away at (1.9, -26.5). A pedestrian with ID 22 is 27.1 meters away at (-26.8, 3.7). A pedestrian with ID 32 is 32.4 meters away at (4.4, -32.1). A pedestrian with ID 36 is 33.2 meters away at (14.1, -30.0). A pedestrian with ID 37 is 35.0 meters away at (11.4, -33.0). A pedestrian with ID 27 is 35.8 meters away at (-35.4, 5.2). A pedestrian with ID 2 is 36.4 meters away at (-32.3, 16.6). A pedestrian with ID 38 is 39.2 meters away at (10.3, -37.8).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.5441182  1.2086747] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.5415941  1.1255689] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.2958351 -0.4355625] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.13639294  1.4633836 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.2338564  0.8296268] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.16917796 0.53912085] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.36738828 -0.10795078] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.35279572  1.3115305 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.663835   -0.93716174] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.05223001 0.02748059] 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 -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 14.8 meters away at (10.3, -10.6). A pedestrian with ID 21 is 15.1 meters away at (11.0, -10.3). A vehicle with ID 39 is 21.1 meters away at (3.9, 20.7). A pedestrian with ID 22 is 27.6 meters away at (-26.8, 6.7). A pedestrian with ID 31 is 27.9 meters away at (4.8, -27.5). A pedestrian with ID 32 is 30.3 meters away at (1.9, -30.3). A pedestrian with ID 36 is 32.6 meters away at (14.5, -29.2). A pedestrian with ID 2 is 34.1 meters away at (-30.7, 14.9). A pedestrian with ID 37 is 35.0 meters away at (10.9, -33.2). A pedestrian with ID 27 is 36.7 meters away at (-35.8, 8.0).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.3194008  1.2210767] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.2747668  1.2066962] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -0.16978477 -10.2855625 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.02977933  1.5064014 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.414823   -0.60101354] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.1835555  0.7507556] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.08958292 0.23054829] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.0041888 -0.7525185] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.25687677 -0.08567316] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.34626973  1.2907461 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.6) m/s. Its current heading (yaw) is -0.58 radians with an angular velocity of -0.58 rad/s.

The most relevant actors are: A vehicle with ID 49 is 7.0 meters away at (-3.1, -6.3). A vehicle with ID 58 is 8.6 meters away at (-8.0, -3.2). A vehicle with ID 55 is 11.4 meters away at (6.7, -9.2). A pedestrian with ID 46 is 11.7 meters away at (5.8, 10.1). A unknown object with ID 64 is 11.9 meters away at (-2.2, -11.7). A unknown object with ID 56 is 12.9 meters away at (7.5, 10.5). A unknown object with ID 65 is 13.1 meters away at (0.2, -13.1). A unknown object with ID 63 is 13.2 meters away at (4.8, 12.3). A unknown object with ID 52 is 13.4 meters away at (10.1, 8.8). A vehicle with ID 82 is 13.5 meters away at (-13.5, 0.4).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-0.69624156 -1.8120193 ] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9191139  -0.69792193] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -1.2) m/s. Its current heading (yaw) is -0.45 radians with an angular velocity of -0.45 rad/s.

The most relevant actors are: A vehicle with ID 49 is 8.0 meters away at (-7.0, -3.9). A vehicle with ID 55 is 11.0 meters away at (0.9, -10.9). A unknown object with ID 64 is 11.2 meters away at (-6.4, -9.2). A unknown object with ID 65 is 11.4 meters away at (-4.1, -10.7). A unknown object with ID 45 is 11.5 meters away at (-9.0, -7.1). A pedestrian with ID 46 is 11.7 meters away at (4.3, 10.8). A vehicle with ID 58 is 11.9 meters away at (-11.9, -0.7). A unknown object with ID 52 is 12.8 meters away at (6.1, 11.2). A pedestrian with ID 62 is 12.8 meters away at (8.4, 9.7). A unknown object with ID 73 is 13.2 meters away at (-3.9, -12.6).

The vehicle with ID 49 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 [-0.98139143 -1.5982856 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1886604  -0.77587897] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.02080347 -0.00159615] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -0.1) m/s. Its current heading (yaw) is -0.02 radians with an angular velocity of -0.02 rad/s.

The most relevant actors are: A pedestrian with ID 46 is 11.0 meters away at (1.7, 10.9). A pedestrian with ID 79 is 11.3 meters away at (9.1, 6.6). A pedestrian with ID 62 is 11.6 meters away at (3.3, 11.1). A vehicle with ID 49 is 12.3 meters away at (-12.1, -2.4). A pedestrian with ID 72 is 12.6 meters away at (4.4, 11.8). A unknown object with ID 52 is 12.6 meters away at (1.1, 12.6). A pedestrian with ID 89 is 12.7 meters away at (4.0, -12.0). A unknown object with ID 65 is 13.0 meters away at (-9.1, -9.3). A vehicle with ID 55 is 13.1 meters away at (-5.7, -11.7). A unknown object with ID 64 is 13.8 meters away at (-11.5, -7.7).

The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1858991  -0.67805266] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2077191  0.8527158] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.06350597  0.10139132] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.8219398   0.03977703] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.94460255 -0.71828294] m/s.The unknown object with ID 65 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 [-0.22715954 -0.41590425] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.2) m/s. Its current heading (yaw) is 0.29 radians with an angular velocity of 0.29 rad/s.

The most relevant actors are: A pedestrian with ID 79 is 8.2 meters away at (3.1, 7.6). A pedestrian with ID 46 is 8.9 meters away at (0.3, 8.9). A pedestrian with ID 62 is 10.5 meters away at (-1.2, 10.4). A pedestrian with ID 72 is 11.0 meters away at (-0.5, 11.0). A unknown object with ID 52 is 12.4 meters away at (-2.3, 12.2). A unknown object with ID 61 is 13.5 meters away at (0.7, 13.5). A pedestrian with ID 89 is 13.8 meters away at (-1.2, -13.8). A unknown object with ID 56 is 14.7 meters away at (-4.9, 13.9). A pedestrian with ID 91 is 15.0 meters away at (-0.8, -15.0). A vehicle with ID 49 is 15.7 meters away at (-15.4, -3.0).

The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.2995718   0.61406946] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.8916445  -0.96637356] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.75946057 -0.3922062 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.6218357  -0.39119813] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.8229407 -0.7160702] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.85467446 -0.7063169 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -3.6) m/s. Its current heading (yaw) is -0.75 radians with an angular velocity of -0.75 rad/s.

The most relevant actors are: A vehicle with ID 84 is 5.8 meters away at (-2.1, -5.4). A vehicle with ID 85 is 6.4 meters away at (-6.0, -2.2). A pedestrian with ID 95 is 8.3 meters away at (-6.8, -4.8). A vehicle with ID 83 is 9.5 meters away at (2.2, -9.2). A vehicle with ID 98 is 12.6 meters away at (-9.5, -8.3). A unknown object with ID 57 is 13.1 meters away at (5.1, -12.0). A vehicle with ID 86 is 13.5 meters away at (13.5, -0.6). A vehicle with ID 107 is 13.9 meters away at (-6.3, -12.4). A pedestrian with ID 91 is 14.0 meters away at (-14.0, 0.5). A unknown object with ID 124 is 14.0 meters away at (7.4, -11.9).

The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.78864425  0.74064815] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 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 pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9886389  0.7782773] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.3) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A unknown object with ID 124 is 4.9 meters away at (0.1, -4.9). A vehicle with ID 83 is 5.6 meters away at (-5.1, -2.4). A cyclist with ID 70 is 7.2 meters away at (0.0, -7.2). A unknown object with ID 30 is 8.4 meters away at (3.2, -7.8). A vehicle with ID 86 is 8.8 meters away at (6.2, 6.3). A vehicle with ID 84 is 9.5 meters away at (-9.4, 1.4). A unknown object with ID 41 is 10.1 meters away at (3.6, 9.4). A vehicle with ID 87 is 11.2 meters away at (11.1, 2.0). A pedestrian with ID 25 is 11.9 meters away at (8.6, 8.3). A vehicle with ID 125 is 12.2 meters away at (-8.0, -9.3).

The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [ 0.00017023 -0.00308541] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 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 [ 0.80728924 -0.7983627 ] m/s.The vehicle with ID 125 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 (3.2, -3.0) 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 pedestrian with ID 33 is 3.5 meters away at (-1.9, -3.0). A unknown object with ID 30 is 3.7 meters away at (-3.4, -1.4). A unknown object with ID 10 is 4.3 meters away at (-0.2, -4.3). A unknown object with ID 60 is 5.0 meters away at (-5.0, -0.2). A cyclist with ID 70 is 6.6 meters away at (-6.6, -0.8). A unknown object with ID 124 is 6.7 meters away at (-6.5, 1.4). A unknown object with ID 72 is 7.6 meters away at (2.7, -7.1). A pedestrian with ID 71 is 8.8 meters away at (-7.4, -4.8). A vehicle with ID 87 is 9.4 meters away at (4.5, 8.2). A vehicle with ID 88 is 9.8 meters away at (8.4, 4.9).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00694765  0.0155957 ] m/s.The unknown object with ID 30 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [0.02386211 0.02848199] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 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 [-0.9708546  0.8587611] 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -2.6) m/s. Its current heading (yaw) is -0.76 radians with an angular velocity of -0.76 rad/s.

The most relevant actors are: A unknown object with ID 72 is 3.4 meters away at (-3.1, -1.4). A pedestrian with ID 68 is 3.5 meters away at (-1.6, -3.1). A unknown object with ID 5 is 4.4 meters away at (0.0, -4.4). A pedestrian with ID 7 is 4.5 meters away at (-2.6, -3.6). A unknown object with ID 10 is 6.3 meters away at (-6.1, 1.4). A unknown object with ID 2 is 7.9 meters away at (3.2, -7.3). A unknown object with ID 30 is 10.2 meters away at (-9.3, 4.2). A vehicle with ID 88 is 10.8 meters away at (2.6, 10.5). A vehicle with ID 1 is 13.0 meters away at (5.5, -11.8). A pedestrian with ID 15 is 13.3 meters away at (-12.4, 4.8).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.00010468 -0.00266017] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.02740241 0.00404289] 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 2 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 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00173263 -0.00875184] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.3) m/s. Its current heading (yaw) is 2.90 radians with an angular velocity of 2.90 rad/s.

The most relevant actors are: A vehicle with ID 16 is 18.0 meters away at (9.9, -15.0). A vehicle with ID 12 is 18.0 meters away at (-15.0, -10.1). A vehicle with ID 13 is 19.9 meters away at (12.3, -15.6). A vehicle with ID 11 is 20.0 meters away at (-17.7, -9.4). A vehicle with ID 14 is 21.8 meters away at (14.6, -16.2). A vehicle with ID 17 is 23.2 meters away at (-22.4, 6.1). A vehicle with ID 15 is 24.3 meters away at (17.3, -17.0). A unknown object with ID 5 is 38.0 meters away at (-29.5, 23.9). A vehicle with ID 19 is 44.5 meters away at (22.5, -38.3). A vehicle with ID 20 is 45.8 meters away at (25.3, -38.3).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 17 is traveling at a (x, y) velocity of [-6.5346203  1.9957114] m/s.The vehicle with ID 15 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 0.5) m/s. Its current heading (yaw) is 2.88 radians with an angular velocity of 2.88 rad/s.

The most relevant actors are: A unknown object with ID 3 is 10.5 meters away at (-2.3, -10.3). A vehicle with ID 12 is 14.4 meters away at (-8.2, -11.8). A vehicle with ID 11 is 15.6 meters away at (-10.9, -11.1). A vehicle with ID 16 is 23.7 meters away at (16.6, -16.9). A vehicle with ID 13 is 25.8 meters away at (19.1, -17.4). A vehicle with ID 14 is 28.0 meters away at (21.4, -18.0). A vehicle with ID 15 is 30.5 meters away at (24.0, -18.8). A unknown object with ID 5 is 31.8 meters away at (-22.9, 22.1). A vehicle with ID 17 is 33.0 meters away at (-31.4, 10.1). A vehicle with ID 19 is 49.7 meters away at (29.3, -40.1).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 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 [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 17 is traveling at a (x, y) velocity of [-9.150262  4.01738 ] 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 (-0.1, 0.0) m/s. Its current heading (yaw) is 2.87 radians with an angular velocity of 2.87 rad/s.

The most relevant actors are: A vehicle with ID 12 is 14.0 meters away at (-6.9, -12.2). A vehicle with ID 11 is 15.0 meters away at (-9.7, -11.5). A vehicle with ID 16 is 24.9 meters away at (17.9, -17.3). A vehicle with ID 13 is 27.0 meters away at (20.3, -17.8). A vehicle with ID 14 is 29.2 meters away at (22.7, -18.4). A unknown object with ID 5 is 30.7 meters away at (-21.8, 21.7). A vehicle with ID 15 is 31.6 meters away at (25.3, -19.1). A unknown object with ID 8 is 33.1 meters away at (29.4, -15.3). A vehicle with ID 19 is 50.7 meters away at (30.6, -40.5). A vehicle with ID 20 is 52.3 meters away at (33.3, -40.4).

The vehicle with ID 12 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 16 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 14 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 8 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.