The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 4.9) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 37 is 3.6 meters away at (3.5, -0.8). A vehicle with ID 42 is 6.6 meters away at (-4.2, 5.1). A pedestrian with ID 67 is 7.3 meters away at (7.2, -0.6). A unknown object with ID 60 is 8.1 meters away at (8.1, 0.5). A pedestrian with ID 56 is 8.7 meters away at (-4.5, 7.4). A pedestrian with ID 58 is 9.4 meters away at (-5.0, 8.0). A vehicle with ID 41 is 9.7 meters away at (-0.2, 9.7). A pedestrian with ID 57 is 10.1 meters away at (-6.0, 8.1). A unknown object with ID 44 is 12.4 meters away at (-11.3, -5.0). A pedestrian with ID 7 is 12.6 meters away at (12.2, 3.1).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.9087206 -1.3932855] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.02789084 0.00181615] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00356384 0.01622272] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00395541  0.00258379] m/s.The unknown object with ID 44 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 [0.96883184 1.162725  ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.3) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A vehicle with ID 70 is 3.2 meters away at (-2.5, 2.0). A vehicle with ID 36 is 3.5 meters away at (3.0, -1.6). A vehicle with ID 39 is 6.9 meters away at (-4.0, 5.6). A pedestrian with ID 7 is 7.4 meters away at (6.4, -3.7). A vehicle with ID 38 is 7.8 meters away at (7.1, 3.3). A vehicle with ID 41 is 8.0 meters away at (-8.0, 0.6). A unknown object with ID 60 is 8.6 meters away at (0.4, -8.6). A pedestrian with ID 66 is 9.6 meters away at (-8.2, 5.1). A vehicle with ID 40 is 10.6 meters away at (0.3, 10.6). A vehicle with ID 37 is 10.7 meters away at (-4.2, -9.9).

The vehicle with ID 70 is traveling at a (x, y) velocity of [-4.1954637 -5.0447454] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0942717 1.1944164] 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.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.01226904 0.00637891] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 3.3) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 38 is 4.3 meters away at (0.6, -4.2). A vehicle with ID 40 is 7.0 meters away at (-6.3, 3.0). A pedestrian with ID 7 is 9.5 meters away at (1.9, -9.3). A vehicle with ID 36 is 9.8 meters away at (-3.4, -9.2). A vehicle with ID 39 is 10.7 meters away at (-10.5, -2.0). A pedestrian with ID 18 is 14.6 meters away at (14.6, 1.4). A pedestrian with ID 66 is 15.0 meters away at (-14.8, -2.6). A pedestrian with ID 29 is 15.1 meters away at (15.0, 2.0). A vehicle with ID 41 is 16.2 meters away at (-14.6, -7.1). A vehicle with ID 37 is 20.7 meters away at (-10.8, -17.6).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.1275048 1.18821  ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00515314 -0.01125693] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [0.00606919 0.00492105] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01049555 0.01664361] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 1.6) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 38 is 9.6 meters away at (-3.4, -9.0). A vehicle with ID 40 is 10.4 meters away at (-10.3, -1.7). A pedestrian with ID 18 is 11.0 meters away at (10.5, -3.2). A pedestrian with ID 29 is 11.3 meters away at (11.0, -2.7). A pedestrian with ID 7 is 11.9 meters away at (-0.1, -11.9). A vehicle with ID 36 is 15.8 meters away at (-7.5, -13.9). A vehicle with ID 39 is 16.0 meters away at (-14.5, -6.8). A pedestrian with ID 25 is 19.6 meters away at (16.9, 9.9). A pedestrian with ID 66 is 20.1 meters away at (-18.8, -7.3). A vehicle with ID 41 is 22.0 meters away at (-18.5, -11.8).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.00990253 -0.00256597] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01242478 -0.00735797] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0609894 1.1611425] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.00196126 0.00429743] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 0.0096532  -0.00033589] m/s.The vehicle with ID 41 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 (2.5, 5.4) m/s. Its current heading (yaw) is 1.14 radians with an angular velocity of 1.14 rad/s.

The most relevant actors are: A unknown object with ID 53 is 5.6 meters away at (-5.3, 1.9). A unknown object with ID 48 is 5.9 meters away at (-5.9, 0.5). A pedestrian with ID 54 is 6.6 meters away at (-6.4, 1.4). A unknown object with ID 46 is 6.6 meters away at (-6.6, 0.1). A unknown object with ID 49 is 7.4 meters away at (-7.4, 0.5). A unknown object with ID 55 is 7.9 meters away at (-7.8, 1.7). A unknown object with ID 59 is 8.0 meters away at (-7.3, 3.3). A unknown object with ID 63 is 8.0 meters away at (-3.9, 7.0). A unknown object with ID 57 is 8.1 meters away at (-7.6, 2.8). A unknown object with ID 58 is 8.1 meters away at (-7.7, 2.7).

The unknown object with ID 53 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 pedestrian with ID 54 is traveling at a (x, y) velocity of [0.01833568 0.00428732] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 6.0) m/s. Its current heading (yaw) is 1.14 radians with an angular velocity of 1.14 rad/s.

The most relevant actors are: A vehicle with ID 6 is 9.6 meters away at (-7.2, 6.3). A unknown object with ID 63 is 9.8 meters away at (-8.8, -4.1). A unknown object with ID 64 is 9.9 meters away at (-9.3, -3.3). A unknown object with ID 65 is 10.7 meters away at (-10.3, -3.0). A unknown object with ID 27 is 11.3 meters away at (-10.6, -3.9). A vehicle with ID 5 is 11.7 meters away at (-6.8, -9.5). A unknown object with ID 33 is 12.0 meters away at (-11.0, -4.8). A unknown object with ID 69 is 12.8 meters away at (-0.6, 12.8). A unknown object with ID 53 is 13.8 meters away at (-10.3, -9.2). A unknown object with ID 70 is 14.2 meters away at (0.1, 14.2).

The vehicle with ID 6 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 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 27 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 [2.9174573 7.509756 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 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 (2.7, 6.2) m/s. Its current heading (yaw) is 1.15 radians with an angular velocity of 1.15 rad/s.

The most relevant actors are: A unknown object with ID 70 is 5.7 meters away at (-5.4, 1.9). A unknown object with ID 72 is 5.9 meters away at (-5.0, 3.2). A unknown object with ID 69 is 6.2 meters away at (-6.1, 0.6). A vehicle with ID 41 is 7.3 meters away at (-6.8, 2.7). A unknown object with ID 71 is 8.4 meters away at (-7.9, 2.7). A vehicle with ID 5 is 9.0 meters away at (-6.3, -6.4). A vehicle with ID 6 is 13.7 meters away at (-12.3, -6.0). A pedestrian with ID 15 is 14.5 meters away at (-4.7, 13.7). A pedestrian with ID 21 is 14.6 meters away at (-14.3, 2.8). A unknown object with ID 64 is 21.5 meters away at (-14.9, -15.5).

The unknown object with ID 70 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 unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 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 [3.0677264 8.194986 ] m/s.The vehicle with ID 6 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 [0.50215024 1.2612736 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00621887  0.00400119] m/s.The unknown object with ID 64 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, 5.3) m/s. Its current heading (yaw) is 1.16 radians with an angular velocity of 1.16 rad/s.

The most relevant actors are: A vehicle with ID 5 is 5.8 meters away at (-5.6, -1.7). A pedestrian with ID 15 is 10.0 meters away at (-8.9, 4.6). A unknown object with ID 4 is 13.8 meters away at (-12.1, -6.6). A vehicle with ID 41 is 15.0 meters away at (-12.0, -8.9). A unknown object with ID 69 is 15.6 meters away at (-11.2, -10.9). A vehicle with ID 6 is 24.3 meters away at (-16.2, -18.1). A unknown object with ID 64 is 33.6 meters away at (-20.0, -27.0). A unknown object with ID 65 is 34.0 meters away at (-20.9, -26.8). A unknown object with ID 63 is 34.0 meters away at (-19.5, -27.9). A unknown object with ID 27 is 34.9 meters away at (-21.3, -27.7).

The vehicle with ID 5 is traveling at a (x, y) velocity of [2.6494777 7.581694 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.5411775 1.2938087] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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 [ 1.1710883  -0.33952647] 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -3.5) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -5.5) m/s. Its current heading (yaw) is -1.85 radians with an angular velocity of -1.85 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -6.5) m/s. Its current heading (yaw) is -1.80 radians with an angular velocity of -1.80 rad/s.

The most relevant actors are: A vehicle with ID 6 is 70.6 meters away at (-38.5, -59.2). A vehicle with ID 9 is 70.8 meters away at (-43.2, -56.1). A vehicle with ID 10 is 71.3 meters away at (-46.9, -53.6). A vehicle with ID 12 is 71.5 meters away at (-50.8, -50.3). A vehicle with ID 17 is 71.8 meters away at (-33.6, -63.4). A pedestrian with ID 14 is 72.6 meters away at (-29.6, -66.3). A vehicle with ID 3 is 73.1 meters away at (-30.1, -66.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.7646415   0.15914989] m/s.The vehicle with ID 9 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 0.68105876 -0.5959587 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -6.9) m/s. Its current heading (yaw) is -1.77 radians with an angular velocity of -1.77 rad/s.

The most relevant actors are: A unknown object with ID 7 is 56.6 meters away at (-35.8, -43.8). A unknown object with ID 8 is 57.0 meters away at (-39.3, -41.3). A unknown object with ID 1 is 57.8 meters away at (-28.0, -50.5). A vehicle with ID 6 is 58.1 meters away at (-35.2, -46.2). A vehicle with ID 17 is 58.7 meters away at (-30.8, -50.0). A vehicle with ID 9 is 58.7 meters away at (-40.2, -42.8). A vehicle with ID 10 is 59.7 meters away at (-44.1, -40.3). A vehicle with ID 3 is 59.8 meters away at (-26.9, -53.4). A vehicle with ID 12 is 60.7 meters away at (-48.5, -36.5).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 0.39445704 -0.2480307 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (2.0, -1.9) m/s. Its current heading (yaw) is -0.76 radians with an angular velocity of -0.76 rad/s.

The most relevant actors are: A vehicle with ID 41 is 3.2 meters away at (-1.9, -2.5). A vehicle with ID 39 is 5.8 meters away at (-5.7, 1.1). A vehicle with ID 43 is 7.8 meters away at (2.2, 7.5). A unknown object with ID 45 is 8.1 meters away at (5.1, 6.3). A vehicle with ID 42 is 10.5 meters away at (-9.3, 4.8). A vehicle with ID 44 is 11.6 meters away at (-2.0, 11.4). A vehicle with ID 12 is 12.3 meters away at (-8.5, 8.9). A vehicle with ID 47 is 15.1 meters away at (14.0, -5.7). A vehicle with ID 46 is 15.8 meters away at (-13.3, 8.6). A vehicle with ID 48 is 17.2 meters away at (-6.3, 16.0).

The vehicle with ID 41 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 12 is traveling at a (x, y) velocity of [ 1.9353367 -1.9386525] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [4.0832047 1.039144 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -2.1) m/s. Its current heading (yaw) is -0.81 radians with an angular velocity of -0.81 rad/s.

The most relevant actors are: A vehicle with ID 41 is 5.9 meters away at (-5.8, 1.3). A unknown object with ID 45 is 10.3 meters away at (1.2, 10.2). A pedestrian with ID 55 is 10.5 meters away at (1.9, -10.4). A vehicle with ID 39 is 10.9 meters away at (-9.6, 5.0). A unknown object with ID 35 is 11.1 meters away at (1.1, 11.1). A vehicle with ID 12 is 11.5 meters away at (-8.0, 8.2). A vehicle with ID 43 is 11.5 meters away at (-1.7, 11.4). A vehicle with ID 42 is 15.7 meters away at (-13.1, 8.6). A vehicle with ID 44 is 16.4 meters away at (-5.9, 15.3). A vehicle with ID 13 is 16.7 meters away at (-2.3, -16.5).

The vehicle with ID 41 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 55 is traveling at a (x, y) velocity of [-1.1623608   0.87590414] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.4050674 -2.443203 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -3.5) m/s. Its current heading (yaw) is -1.30 radians with an angular velocity of -1.30 rad/s.

The most relevant actors are: A pedestrian with ID 55 is 4.6 meters away at (-3.3, -3.2). A vehicle with ID 41 is 11.1 meters away at (-8.9, 6.6). A vehicle with ID 12 is 11.2 meters away at (-6.6, 9.0). A vehicle with ID 13 is 12.5 meters away at (-5.5, -11.2). A unknown object with ID 45 is 15.7 meters away at (-2.0, 15.6). A vehicle with ID 39 is 16.5 meters away at (-12.8, 10.4). A unknown object with ID 35 is 16.6 meters away at (-2.1, 16.4). A vehicle with ID 43 is 17.5 meters away at (-4.9, 16.8). A vehicle with ID 30 is 18.7 meters away at (-8.7, -16.5). A vehicle with ID 54 is 18.9 meters away at (13.4, 13.4).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.9681314  1.0393177] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.2162402 -2.280464 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.0) m/s. Its current heading (yaw) is -1.94 radians with an angular velocity of -1.94 rad/s.

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.5). A pedestrian with ID 55 is 8.8 meters away at (-4.3, 7.6). A vehicle with ID 30 is 11.1 meters away at (-7.9, -7.8). A vehicle with ID 11 is 11.3 meters away at (-1.9, -11.1). A pedestrian with ID 22 is 11.8 meters away at (-9.8, -6.6). A vehicle with ID 12 is 13.0 meters away at (-1.5, 12.9). A vehicle with ID 10 is 16.4 meters away at (-10.2, -12.9). A vehicle with ID 41 is 17.4 meters away at (-8.2, 15.3). A vehicle with ID 39 is 22.5 meters away at (-12.1, 19.0). A vehicle with ID 8 is 23.1 meters away at (-13.8, -18.6).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.8530292  1.1097119] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.6861267 1.3254791] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.9787084 -2.7183573] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.5) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 20 is 19.6 meters away at (-19.1, -4.4). A pedestrian with ID 31 is 27.4 meters away at (16.5, 21.9). A vehicle with ID 33 is 28.0 meters away at (5.1, 27.6). A pedestrian with ID 9 is 42.3 meters away at (-18.4, -38.1). A vehicle with ID 36 is 55.6 meters away at (22.9, 50.7). A unknown object with ID 39 is 71.4 meters away at (29.4, 65.1).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.47588807 1.3136425 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.41438377 -1.2190964 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.0) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A unknown object with ID 11 is 15.7 meters away at (9.8, -12.3). A vehicle with ID 20 is 18.6 meters away at (-18.4, -2.5). A vehicle with ID 15 is 22.3 meters away at (-22.3, -1.5). A vehicle with ID 24 is 27.3 meters away at (-26.7, -5.7). A vehicle with ID 33 is 30.0 meters away at (5.7, 29.5). A pedestrian with ID 31 is 31.7 meters away at (18.6, 25.7). A pedestrian with ID 9 is 43.1 meters away at (-18.6, -38.9). A vehicle with ID 36 is 57.6 meters away at (23.5, 52.6). A vehicle with ID 27 is 61.2 meters away at (47.5, -38.5). A unknown object with ID 39 is 73.4 meters away at (30.0, 67.0).

The unknown object with ID 11 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.623591   1.7333716] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.9405731 0.7605171] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.4183639 -1.1322337] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.4) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 20 is 16.8 meters away at (-16.5, 3.0). A vehicle with ID 15 is 20.7 meters away at (-20.3, 4.0). A vehicle with ID 33 is 35.9 meters away at (7.6, 35.1). A pedestrian with ID 9 is 39.8 meters away at (-17.6, -35.7). A vehicle with ID 27 is 59.4 meters away at (49.4, -33.0). A vehicle with ID 13 is 60.6 meters away at (-60.4, 3.7). A vehicle with ID 36 is 63.5 meters away at (25.5, 58.1). A vehicle with ID 1 is 77.0 meters away at (-17.1, -75.1).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.51232666 -1.1643516 ] m/s.The vehicle with ID 27 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.3) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 20 is 19.1 meters away at (-13.0, 13.9). A vehicle with ID 15 is 22.2 meters away at (-16.7, 14.5). A pedestrian with ID 9 is 31.2 meters away at (-14.9, -27.4). A vehicle with ID 28 is 36.9 meters away at (-36.4, 5.8). A unknown object with ID 29 is 38.5 meters away at (-0.5, -38.5). A vehicle with ID 33 is 47.3 meters away at (11.2, 46.0). A vehicle with ID 27 is 57.4 meters away at (52.9, -22.2). A vehicle with ID 13 is 58.6 meters away at (-56.8, 14.4). A vehicle with ID 16 is 58.7 meters away at (-52.5, 26.4). A vehicle with ID 23 is 62.4 meters away at (-55.9, 27.7).

The vehicle with ID 20 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 9 is traveling at a (x, y) velocity of [-0.5216777 -1.2593449] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-2.5150366 -3.3556492] m/s.The unknown object with ID 29 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 27 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -1.7) m/s. Its current heading (yaw) is -0.80 radians with an angular velocity of -0.80 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 6.6 meters away at (-1.1, -6.5). A vehicle with ID 42 is 9.7 meters away at (9.5, -2.2). A unknown object with ID 36 is 10.4 meters away at (5.9, 8.6). A unknown object with ID 41 is 13.2 meters away at (-2.8, 12.9). A vehicle with ID 37 is 16.9 meters away at (-14.3, 9.0). A vehicle with ID 33 is 18.1 meters away at (-6.3, -17.0). A unknown object with ID 39 is 20.5 meters away at (-8.9, 18.4). A pedestrian with ID 44 is 24.9 meters away at (19.2, -15.8). A unknown object with ID 43 is 29.3 meters away at (-16.1, 24.4). A unknown object with ID 17 is 30.3 meters away at (26.9, -14.0).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.39241502  0.71925265] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.33307   3.745366] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.37115723 -1.4852077 ] 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -3.6) m/s. Its current heading (yaw) is -1.44 radians with an angular velocity of -1.44 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 3.3 meters away at (-3.3, -0.2). A vehicle with ID 42 is 12.0 meters away at (-3.4, 11.5). A unknown object with ID 36 is 14.2 meters away at (3.0, 13.9). A vehicle with ID 33 is 14.8 meters away at (-9.0, -11.7). A unknown object with ID 41 is 19.1 meters away at (-5.7, 18.2). A pedestrian with ID 44 is 20.6 meters away at (15.6, -13.4). A vehicle with ID 50 is 21.1 meters away at (-7.1, -19.9). A vehicle with ID 37 is 22.3 meters away at (-17.2, 14.2). A unknown object with ID 17 is 25.6 meters away at (24.1, -8.6). A unknown object with ID 46 is 26.1 meters away at (25.0, -7.5).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.79235655 0.51011896] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-5.406776  4.5855  ] m/s.The unknown object with ID 36 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 unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.40087664 -1.3006902 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [4.304941  4.8618083] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -4.6) 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 50 is 5.0 meters away at (1.7, -4.8). A vehicle with ID 33 is 7.4 meters away at (-6.5, -3.6). A pedestrian with ID 38 is 9.8 meters away at (0.3, 9.8). A pedestrian with ID 44 is 18.7 meters away at (17.0, -7.8). A vehicle with ID 32 is 21.2 meters away at (-15.8, -14.2). A vehicle with ID 34 is 22.0 meters away at (-8.2, -20.5). A unknown object with ID 36 is 22.7 meters away at (5.8, 22.0). A unknown object with ID 41 is 26.6 meters away at (-2.9, 26.4). A unknown object with ID 17 is 26.6 meters away at (26.6, -0.7). A vehicle with ID 37 is 26.7 meters away at (-14.4, 22.5).

The vehicle with ID 50 is traveling at a (x, y) velocity of [1.9890566 2.0448735] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.5908982 0.9570947] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.4644096 -1.0773976] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -4.6) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A vehicle with ID 33 is 5.5 meters away at (0.3, 5.5). A vehicle with ID 32 is 10.1 meters away at (-8.9, -4.9). A vehicle with ID 34 is 11.2 meters away at (-1.2, -11.1). A vehicle with ID 50 is 13.4 meters away at (11.2, 7.4). A vehicle with ID 35 is 17.4 meters away at (-5.6, -16.5). A pedestrian with ID 38 is 22.6 meters away at (8.4, 20.9). A vehicle with ID 37 is 32.6 meters away at (-7.7, 31.7). A vehicle with ID 40 is 32.8 meters away at (-16.3, -28.5). A unknown object with ID 36 is 33.8 meters away at (12.6, 31.3). A unknown object with ID 17 is 34.6 meters away at (33.5, 8.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.2004101 1.2349007] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.7006407 0.7879763] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -4.5) m/s. Its current heading (yaw) is -0.66 radians with an angular velocity of -0.66 rad/s.

The most relevant actors are: A vehicle with ID 24 is 18.9 meters away at (10.3, -15.9). A vehicle with ID 27 is 53.6 meters away at (42.8, -32.2). A vehicle with ID 25 is 55.0 meters away at (-49.9, 23.2). A vehicle with ID 26 is 78.7 meters away at (-77.2, -15.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-6.5972815 -1.7032762] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.518367 -8.00285 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -3.6) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A vehicle with ID 24 is 7.8 meters away at (-0.6, -7.8). A vehicle with ID 27 is 40.1 meters away at (32.0, -24.1). A unknown object with ID 5 is 53.4 meters away at (31.5, -43.1). A vehicle with ID 25 is 75.8 meters away at (-72.3, 22.9).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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 [-5.225824  -6.5288653] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.1) m/s. Its current heading (yaw) is -0.25 radians with an angular velocity of -0.25 rad/s.

The most relevant actors are: A vehicle with ID 24 is 10.0 meters away at (-9.7, -2.7). A vehicle with ID 27 is 30.0 meters away at (23.0, -19.3). A unknown object with ID 5 is 44.5 meters away at (22.4, -38.4). A unknown object with ID 12 is 53.1 meters away at (24.1, -47.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 0.9) m/s. Its current heading (yaw) is 0.27 radians with an angular velocity of 0.27 rad/s.

The most relevant actors are: A vehicle with ID 24 is 18.5 meters away at (-18.4, -1.6). A vehicle with ID 27 is 24.5 meters away at (15.2, -19.2). A vehicle with ID 4 is 31.0 meters away at (17.2, 25.9). A unknown object with ID 9 is 36.9 meters away at (18.0, 32.2). A unknown object with ID 5 is 40.9 meters away at (14.5, -38.3). A unknown object with ID 13 is 56.4 meters away at (15.4, 54.2). A vehicle with ID 17 is 78.8 meters away at (25.3, 74.7).

The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.5481464   0.40730318] m/s.The vehicle with ID 27 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 unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.7) m/s. Its current heading (yaw) is 1.06 radians with an angular velocity of 1.06 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-5.2, 4.0). A vehicle with ID 18 is 8.7 meters away at (-8.4, -2.2). A vehicle with ID 21 is 8.8 meters away at (-2.6, 8.4). A vehicle with ID 23 is 13.9 meters away at (-11.7, -7.6). A vehicle with ID 20 is 14.1 meters away at (-9.7, -10.1). A vehicle with ID 22 is 20.3 meters away at (19.8, -4.5). A unknown object with ID 11 is 23.7 meters away at (23.6, -1.6). A unknown object with ID 9 is 23.8 meters away at (23.8, -0.2). A unknown object with ID 25 is 24.3 meters away at (24.2, 1.4). A vehicle with ID 32 is 25.6 meters away at (-1.2, 25.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [-5.9101505 -9.818556 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 2.1758738 -1.3593394] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.8413376 -2.2049124] m/s.

Instruction: right u-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 1.06 radians with an angular velocity of 1.06 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-5.3, 3.8). A vehicle with ID 21 is 8.6 meters away at (-2.7, 8.2). A vehicle with ID 18 is 8.8 meters away at (-8.5, -2.4). A vehicle with ID 23 is 14.1 meters away at (-11.8, -7.8). A vehicle with ID 32 is 19.4 meters away at (2.2, 19.3). A cyclist with ID 33 is 20.9 meters away at (-8.7, -19.0). A unknown object with ID 25 is 24.2 meters away at (24.1, 1.2). A pedestrian with ID 36 is 29.0 meters away at (-21.9, -19.0). A vehicle with ID 37 is 36.5 meters away at (-18.9, -31.3). A vehicle with ID 28 is 36.7 meters away at (-2.4, 36.6).

The vehicle with ID 19 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [ 1.1674908 -4.0380416] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [2.0389328 3.5381503] m/s.The unknown object with ID 25 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 [-0.6763184 -1.2099261] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [2.332917  3.7637463] m/s.The vehicle with ID 28 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 (0.0, 0.0) m/s. Its current heading (yaw) is 1.06 radians with an angular velocity of 1.06 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.5 meters away at (-5.3, 3.8). A vehicle with ID 21 is 8.6 meters away at (-2.7, 8.2). A vehicle with ID 18 is 8.8 meters away at (-8.5, -2.4). A vehicle with ID 32 is 11.2 meters away at (2.0, 11.0). A cyclist with ID 33 is 12.9 meters away at (-4.6, -12.0). A vehicle with ID 23 is 14.1 meters away at (-11.8, -7.8). A unknown object with ID 25 is 24.1 meters away at (24.1, 1.2). A vehicle with ID 27 is 24.3 meters away at (0.5, 24.3). A vehicle with ID 37 is 28.0 meters away at (-14.3, -24.1). A pedestrian with ID 36 is 31.7 meters away at (-23.4, -21.3).

The vehicle with ID 19 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 18 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 [-1.508655 -4.561969] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [2.1106894 3.3880265] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.5029852 -3.5627387] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.8327602 2.9648035] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.7672121 -1.1252035] m/s.

Instruction: right u-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 1.06 radians with an angular velocity of 1.06 rad/s.

The most relevant actors are: A vehicle with ID 32 is 3.1 meters away at (-2.5, 1.8). A cyclist with ID 33 is 5.0 meters away at (-0.1, -5.0). A vehicle with ID 19 is 6.6 meters away at (-5.4, 3.8). A vehicle with ID 21 is 8.6 meters away at (-2.8, 8.1). A vehicle with ID 18 is 8.8 meters away at (-8.5, -2.4). A vehicle with ID 23 is 14.1 meters away at (-11.8, -7.8). A vehicle with ID 27 is 16.2 meters away at (3.2, 15.9). A cyclist with ID 6 is 20.9 meters away at (5.2, 20.3). A vehicle with ID 37 is 22.0 meters away at (-11.1, -19.0). A unknown object with ID 25 is 24.1 meters away at (24.1, 1.2).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.9078867 -5.026969 ] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [2.202251 3.503542] m/s.The vehicle with ID 19 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.14368062 -4.3216    ] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [ 2.1559129 -3.2079103] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [1.3215513 2.1694305] m/s.The unknown object with ID 25 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 (-0.0, 0.0) m/s. Its current heading (yaw) is 2.27 radians with an angular velocity of 2.27 rad/s.

The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.4). A vehicle with ID 24 is 14.3 meters away at (-11.4, 8.7). A vehicle with ID 14 is 15.2 meters away at (9.5, -11.8). A vehicle with ID 5 is 17.9 meters away at (-13.5, -11.7). A vehicle with ID 12 is 22.3 meters away at (-22.2, 1.8). A unknown object with ID 19 is 22.8 meters away at (-15.1, -17.2). A unknown object with ID 9 is 23.0 meters away at (-16.5, -16.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 27 is 24.4 meters away at (-19.0, -15.2). A vehicle with ID 17 is 25.9 meters away at (-21.2, 14.9).

The vehicle with ID 4 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 [ 12.12169  -14.836026] m/s.The vehicle with ID 14 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 12 is traveling at a (x, y) velocity of [-2.0692213 -6.075015 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 27 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 [ 4.5026207 -5.2094483] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.5). A vehicle with ID 17 is 9.7 meters away at (-9.6, 1.5). A vehicle with ID 14 is 15.2 meters away at (9.5, -11.8). A vehicle with ID 5 is 17.9 meters away at (-13.5, -11.7). A unknown object with ID 19 is 22.9 meters away at (-15.1, -17.2). A unknown object with ID 9 is 23.0 meters away at (-16.5, -16.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 27 is 24.3 meters away at (-19.0, -15.2). A vehicle with ID 24 is 25.6 meters away at (13.6, -21.7). A vehicle with ID 22 is 26.0 meters away at (-22.4, -13.2).

The vehicle with ID 4 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 [ 7.133438 -8.243433] m/s.The vehicle with ID 14 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 12.822809 -15.374521] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.5). A vehicle with ID 5 is 12.9 meters away at (-8.4, -9.7). A vehicle with ID 14 is 15.2 meters away at (9.5, -11.8). A vehicle with ID 17 is 18.0 meters away at (6.2, -16.9). A unknown object with ID 19 is 22.8 meters away at (-15.1, -17.2). A unknown object with ID 9 is 23.0 meters away at (-16.5, -15.9). A vehicle with ID 28 is 23.0 meters away at (-21.9, 7.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 27 is 23.6 meters away at (-18.3, -14.8). A vehicle with ID 22 is 26.0 meters away at (-22.4, -13.2).

The vehicle with ID 4 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 [4.9308863  0.49044818] 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 [ 8.457793 -9.822722] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 [-0.2989421 -6.70277  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [1.0144799  0.70637184] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 4 is 7.0 meters away at (4.4, -5.4). A vehicle with ID 14 is 15.2 meters away at (9.6, -11.9). A vehicle with ID 5 is 15.5 meters away at (4.3, -14.9). A vehicle with ID 27 is 18.7 meters away at (-14.2, -12.2). A unknown object with ID 19 is 22.8 meters away at (-15.1, -17.2). A vehicle with ID 39 is 23.0 meters away at (-21.7, 7.4). A unknown object with ID 9 is 23.0 meters away at (-16.5, -16.0). A vehicle with ID 10 is 23.4 meters away at (15.3, -17.7). A vehicle with ID 22 is 26.0 meters away at (-22.4, -13.2). A vehicle with ID 28 is 27.7 meters away at (-26.9, -6.3).

The vehicle with ID 4 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 5 is traveling at a (x, y) velocity of [ 6.5169196 -5.8241644] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [2.467406  1.3218291] m/s.The unknown object with ID 19 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 [ 1.3564886e-03 -6.5688176e+00] m/s.The unknown object with ID 9 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.92489   -6.0653777] 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, -1.9) m/s. Its current heading (yaw) is -2.54 radians with an angular velocity of -2.54 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 23.8 meters away at (-23.5, 3.7). A pedestrian with ID 29 is 30.7 meters away at (27.8, -12.9). A vehicle with ID 28 is 31.3 meters away at (-30.1, -8.9). A pedestrian with ID 30 is 39.0 meters away at (38.8, 4.3). A vehicle with ID 31 is 78.3 meters away at (67.2, -40.3).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.06376579 -0.00965889] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.19206819  1.4311439 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-5.20113  -7.457436] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.00661654 -0.05305697] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 3.4316437 -1.5351669] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 0.8) m/s. Its current heading (yaw) is 2.94 radians with an angular velocity of 2.94 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 17.4 meters away at (-16.8, 4.7). A pedestrian with ID 29 is 35.9 meters away at (34.6, -9.5). A vehicle with ID 28 is 40.5 meters away at (-30.9, -26.2). A pedestrian with ID 30 is 46.0 meters away at (45.7, 4.7).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00415039  0.09197084] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.12970419 1.2472217 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.2302208 -10.588334 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.23478746 -0.68433326] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -0.4) m/s. Its current heading (yaw) is -3.06 radians with an angular velocity of -3.06 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 8.7 meters away at (-7.8, 3.8). A pedestrian with ID 30 is 54.5 meters away at (54.4, 2.9). A vehicle with ID 28 is 58.6 meters away at (-29.6, -50.6). A vehicle with ID 1 is 62.0 meters away at (-24.8, -56.8). A vehicle with ID 2 is 68.9 meters away at (-41.0, -55.4). A vehicle with ID 3 is 69.4 meters away at (-43.4, -54.2). A vehicle with ID 8 is 77.4 meters away at (-38.4, -67.2).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00061519 0.0119762 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.01357415 -0.5171098 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.910421 -12.657363] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -3.4) m/s. Its current heading (yaw) is -2.50 radians with an angular velocity of -2.50 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 7.7 meters away at (2.0, 7.5). A vehicle with ID 1 is 55.3 meters away at (-15.0, -53.2). A vehicle with ID 2 is 60.4 meters away at (-31.2, -51.7). A vehicle with ID 3 is 60.8 meters away at (-33.7, -50.6). A vehicle with ID 4 is 61.6 meters away at (-17.1, -59.2). A pedestrian with ID 30 is 64.7 meters away at (64.5, 5.2). A vehicle with ID 8 is 69.6 meters away at (-28.6, -63.5). A vehicle with ID 28 is 78.4 meters away at (-28.1, -73.2).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04793463  0.03755176] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.02936329 -0.7067626 ] m/s.The vehicle with ID 8 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 [ -4.324271 -13.090268] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.6) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A unknown object with ID 40 is 11.2 meters away at (0.1, 11.2). A vehicle with ID 51 is 11.2 meters away at (-9.8, 5.4). A vehicle with ID 54 is 11.4 meters away at (-7.8, 8.3). A vehicle with ID 52 is 11.7 meters away at (-11.4, 2.5). A vehicle with ID 46 is 12.4 meters away at (-6.8, 10.4). A vehicle with ID 39 is 12.6 meters away at (-12.6, 0.1). A unknown object with ID 24 is 27.0 meters away at (-26.3, -5.9). A vehicle with ID 55 is 32.3 meters away at (10.2, -30.6). A unknown object with ID 57 is 38.2 meters away at (30.2, 23.4). A unknown object with ID 59 is 39.2 meters away at (36.8, 13.6).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.4) m/s. Its current heading (yaw) is -1.97 radians with an angular velocity of -1.97 rad/s.

The most relevant actors are: A vehicle with ID 39 is 10.9 meters away at (-9.6, 5.1). A vehicle with ID 52 is 11.2 meters away at (-8.5, 7.2). A vehicle with ID 51 is 12.3 meters away at (-6.9, 10.2). A vehicle with ID 54 is 14.2 meters away at (-4.8, 13.3). A vehicle with ID 46 is 16.1 meters away at (-3.6, 15.7). A unknown object with ID 40 is 16.5 meters away at (3.1, 16.2). A vehicle with ID 55 is 28.8 meters away at (13.1, -25.7). A unknown object with ID 22 is 31.9 meters away at (-2.2, -31.8). A vehicle with ID 82 is 37.4 meters away at (-27.5, -25.4). A vehicle with ID 69 is 41.4 meters away at (15.7, -38.3).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.6) m/s. Its current heading (yaw) is -1.67 radians with an angular velocity of -1.67 rad/s.

The most relevant actors are: A vehicle with ID 39 is 12.1 meters away at (-8.8, 8.3). A vehicle with ID 52 is 13.0 meters away at (-7.4, 10.8). A vehicle with ID 51 is 14.7 meters away at (-6.0, 13.4). A vehicle with ID 54 is 17.1 meters away at (-3.8, 16.6). A vehicle with ID 46 is 18.7 meters away at (-3.0, 18.5). A unknown object with ID 30 is 22.6 meters away at (-22.5, 2.5). A vehicle with ID 55 is 26.4 meters away at (14.0, -22.4). A vehicle with ID 82 is 34.6 meters away at (-26.7, -22.0). A vehicle with ID 53 is 38.4 meters away at (-18.8, -33.5). A vehicle with ID 69 is 38.8 meters away at (16.6, -35.0).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 (2.7, -3.6) m/s. Its current heading (yaw) is -0.94 radians with an angular velocity of -0.94 rad/s.

The most relevant actors are: A vehicle with ID 55 is 19.6 meters away at (12.2, -15.3). A vehicle with ID 54 is 24.1 meters away at (-5.9, 23.4). A unknown object with ID 30 is 26.2 meters away at (-24.3, 9.7). A vehicle with ID 69 is 31.6 meters away at (14.8, -27.9). A vehicle with ID 82 is 32.1 meters away at (-28.5, -14.9). A vehicle with ID 68 is 32.9 meters away at (17.3, -28.0). A vehicle with ID 53 is 33.4 meters away at (-20.5, -26.4). A vehicle with ID 67 is 34.5 meters away at (20.2, -27.9). A vehicle with ID 38 is 36.1 meters away at (-23.6, -27.3). A vehicle with ID 48 is 37.5 meters away at (34.1, -15.5).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 6.7) m/s. Its current heading (yaw) is 2.20 radians with an angular velocity of 2.20 rad/s.

The most relevant actors are: A vehicle with ID 54 is 4.6 meters away at (-2.7, -3.7). A vehicle with ID 56 is 5.9 meters away at (-5.8, 1.4). A vehicle with ID 55 is 6.2 meters away at (4.0, 4.7). A vehicle with ID 53 is 7.2 meters away at (7.2, -0.0). A vehicle with ID 57 is 9.1 meters away at (0.9, 9.0). A vehicle with ID 52 is 9.3 meters away at (1.8, -9.1). A cyclist with ID 59 is 9.6 meters away at (-8.4, 4.8). A vehicle with ID 15 is 16.8 meters away at (8.9, -14.3). A vehicle with ID 67 is 18.2 meters away at (-5.4, 17.4). A vehicle with ID 70 is 23.3 meters away at (-8.7, 21.6).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 0.03680718 -0.10304546] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.9767586  5.8420787] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 7.2) m/s. Its current heading (yaw) is 2.21 radians with an angular velocity of 2.21 rad/s.

The most relevant actors are: A vehicle with ID 67 is 5.9 meters away at (4.8, 3.5). A vehicle with ID 70 is 7.9 meters away at (1.6, 7.7). A cyclist with ID 59 is 9.2 meters away at (1.8, -9.1). A vehicle with ID 57 is 12.0 meters away at (11.0, -4.8). A vehicle with ID 75 is 12.6 meters away at (-1.7, 12.5). A vehicle with ID 56 is 13.2 meters away at (4.4, -12.4). A vehicle with ID 55 is 16.9 meters away at (14.2, -9.2). A vehicle with ID 15 is 19.1 meters away at (11.5, -15.3). A vehicle with ID 54 is 19.2 meters away at (7.6, -17.7). A vehicle with ID 78 is 20.7 meters away at (-6.8, 19.5).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.02472362  0.0258947 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.197187  7.118568] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 7.2) m/s. Its current heading (yaw) is 2.22 radians with an angular velocity of 2.22 rad/s.

The most relevant actors are: A vehicle with ID 78 is 6.6 meters away at (3.9, 5.3). A vehicle with ID 75 is 9.1 meters away at (9.0, -1.7). A vehicle with ID 81 is 10.0 meters away at (0.6, 10.0). A vehicle with ID 70 is 13.8 meters away at (12.2, -6.5). A vehicle with ID 15 is 18.5 meters away at (11.4, -14.6). A vehicle with ID 67 is 18.9 meters away at (15.5, -10.8). A vehicle with ID 30 is 24.6 meters away at (-10.6, 22.2). A cyclist with ID 59 is 26.4 meters away at (12.6, -23.3). A vehicle with ID 57 is 28.9 meters away at (21.7, -19.1). A vehicle with ID 56 is 30.7 meters away at (15.2, -26.7).

The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 [-5.5100737  7.5087423] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.00417682  0.00727566] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 7.0) m/s. Its current heading (yaw) is 2.19 radians with an angular velocity of 2.19 rad/s.

The most relevant actors are: A vehicle with ID 30 is 7.9 meters away at (0.0, 7.9). A vehicle with ID 81 is 11.7 meters away at (11.0, -4.1). A vehicle with ID 78 is 16.9 meters away at (14.4, -8.9). A vehicle with ID 15 is 17.8 meters away at (11.0, -14.0). A vehicle with ID 75 is 25.2 meters away at (19.4, -16.0). A pedestrian with ID 9 is 29.4 meters away at (-8.4, 28.1). A vehicle with ID 70 is 30.7 meters away at (22.6, -20.7). A vehicle with ID 17 is 33.2 meters away at (20.0, -26.5). A vehicle with ID 67 is 36.1 meters away at (26.0, -25.1). A cyclist with ID 59 is 43.9 meters away at (23.0, -37.4).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 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 [-5.4775376  7.2853866] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.717436   0.9494379] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.323642  8.336259] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [-0.01460251  0.00025121] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 6.6) m/s. Its current heading (yaw) is 2.26 radians with an angular velocity of 2.26 rad/s.

The most relevant actors are: A vehicle with ID 97 is 6.5 meters away at (-1.0, 6.4). A pedestrian with ID 94 is 8.7 meters away at (7.9, 3.6). A pedestrian with ID 87 is 8.8 meters away at (8.7, 1.4). A pedestrian with ID 88 is 9.2 meters away at (8.9, 2.2). A pedestrian with ID 93 is 9.3 meters away at (8.6, 3.4). A vehicle with ID 91 is 9.8 meters away at (-5.8, -7.9). A vehicle with ID 108 is 10.4 meters away at (-9.8, 3.6). A vehicle with ID 100 is 12.1 meters away at (1.9, -12.0). A vehicle with ID 102 is 12.4 meters away at (-12.4, 0.7). A pedestrian with ID 99 is 13.9 meters away at (-11.3, -8.0).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [ 0.6017718 -1.0126061] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.5515128  -0.78570896] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.49061522 -0.8106394 ] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.6918906 -0.9670312] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [ 5.6735363 -7.3170586] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [ 5.8882656 -6.7275553] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [ 0.5628366 -0.7122138] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.6842123 -1.2579476] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 6.8) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A vehicle with ID 104 is 5.1 meters away at (5.0, 1.1). A vehicle with ID 71 is 6.2 meters away at (1.8, 5.9). A vehicle with ID 114 is 8.8 meters away at (-8.8, 0.3). A vehicle with ID 106 is 9.0 meters away at (-6.3, -6.5). A vehicle with ID 43 is 9.5 meters away at (0.4, -9.5). A vehicle with ID 97 is 11.8 meters away at (9.5, -6.9). A vehicle with ID 102 is 13.3 meters away at (-1.3, -13.2). A vehicle with ID 9 is 14.1 meters away at (8.2, -11.5). A vehicle with ID 80 is 15.3 meters away at (-4.8, 14.5). A pedestrian with ID 61 is 16.0 meters away at (-9.1, -13.1).

The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [ 4.5013723 -4.036125 ] m/s.The vehicle with ID 106 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 [ 5.9575577 -8.261523 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.0967364  7.0348334] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.01953626 0.14315678] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 6.8) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A vehicle with ID 51 is 4.6 meters away at (-4.1, -2.2). A vehicle with ID 70 is 6.3 meters away at (3.0, 5.5). A vehicle with ID 80 is 6.4 meters away at (6.3, 0.8). A pedestrian with ID 59 is 8.8 meters away at (7.8, 4.2). A vehicle with ID 45 is 10.9 meters away at (-1.0, 10.8). A vehicle with ID 9 is 13.6 meters away at (7.8, -11.2). A vehicle with ID 71 is 15.2 meters away at (13.0, -7.9). A vehicle with ID 23 is 16.2 meters away at (-4.5, 15.6). A pedestrian with ID 82 is 17.9 meters away at (0.4, 17.9). A vehicle with ID 39 is 19.1 meters away at (-9.1, 16.8).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 3.7829578 -5.1695905] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 1.8042253 -1.9027135] 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 [-5.7606535  6.9967675] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-0.02903656  0.01171232] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.3) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 39 is 3.9 meters away at (1.4, 3.6). A vehicle with ID 23 is 6.5 meters away at (6.0, 2.4). A vehicle with ID 21 is 8.2 meters away at (2.1, 7.9). A vehicle with ID 45 is 9.7 meters away at (9.4, -2.3). A vehicle with ID 17 is 12.1 meters away at (-1.2, 12.1). A vehicle with ID 9 is 13.1 meters away at (7.4, -10.9). A vehicle with ID 22 is 14.5 meters away at (-5.7, 13.4). A vehicle with ID 70 is 15.4 meters away at (13.4, -7.6). A vehicle with ID 80 is 20.9 meters away at (16.8, -12.4). A pedestrian with ID 59 is 25.2 meters away at (22.1, -12.0).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.0891414  6.4767   ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0.11095505 4.3929424 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 1.7603818 -0.9011879] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 4.7) m/s. Its current heading (yaw) is 1.47 radians with an angular velocity of 1.47 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 15.5 meters away at (-2.8, 15.3). A pedestrian with ID 10 is 17.0 meters away at (-12.9, -11.1). A vehicle with ID 9 is 30.0 meters away at (15.4, 25.8). A pedestrian with ID 12 is 32.6 meters away at (18.2, 27.0). A vehicle with ID 8 is 61.8 meters away at (2.6, 61.7). A pedestrian with ID 13 is 63.0 meters away at (6.6, -62.7). A pedestrian with ID 14 is 66.2 meters away at (8.9, -65.6). A vehicle with ID 15 is 67.2 meters away at (0.0, -67.2). A pedestrian with ID 16 is 67.4 meters away at (9.0, -66.8). A pedestrian with ID 17 is 70.0 meters away at (56.9, -40.8).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00915774 -0.00548042] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00029526 -0.00801408] m/s.The vehicle with ID 9 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 [-0.66382754 -0.7806531 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.04337174  0.00766463] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00241871 -0.05364943] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00572073 -0.01918463] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.40714243 0.5749192 ] 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, 5.8) 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 pedestrian with ID 11 is 5.8 meters away at (-3.2, 4.8). A vehicle with ID 9 is 21.4 meters away at (14.9, 15.4). A pedestrian with ID 12 is 22.6 meters away at (16.2, 15.7). A pedestrian with ID 10 is 25.4 meters away at (-13.5, -21.5). A vehicle with ID 8 is 51.2 meters away at (2.1, 51.2). A pedestrian with ID 2 is 55.1 meters away at (6.2, 54.7). A pedestrian with ID 13 is 73.4 meters away at (6.0, -73.2). A pedestrian with ID 14 is 76.4 meters away at (8.4, -76.0). A vehicle with ID 15 is 77.6 meters away at (-0.5, -77.6).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01261076  0.00235752] m/s.The vehicle with ID 9 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 [-0.67245555 -0.23605813] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00774888 -0.00554678] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.03393274  0.00892491] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0305162   0.00394459] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00697508  0.00019997] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.6) 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 pedestrian with ID 11 is 8.0 meters away at (-2.7, -7.6). A vehicle with ID 9 is 15.7 meters away at (15.4, 3.0). A pedestrian with ID 12 is 17.2 meters away at (16.8, 3.4). A pedestrian with ID 10 is 36.3 meters away at (-13.0, -33.8). A vehicle with ID 8 is 39.0 meters away at (2.7, 38.9). A pedestrian with ID 2 is 42.9 meters away at (7.0, 42.3). A unknown object with ID 6 is 56.5 meters away at (-9.1, 55.8). A vehicle with ID 1 is 72.5 meters away at (1.6, 72.5).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00188425  0.00933284] m/s.The vehicle with ID 9 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 [-0.13209185 -0.21157335] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.01661411  0.00073007] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.01571491  0.00502927] m/s.The unknown object with ID 6 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.3) m/s. Its current heading (yaw) is 1.62 radians with an angular velocity of 1.62 rad/s.

The most relevant actors are: A vehicle with ID 9 is 19.4 meters away at (16.1, -10.8). A pedestrian with ID 12 is 20.4 meters away at (17.2, -11.0). A pedestrian with ID 11 is 21.6 meters away at (-1.9, -21.5). A vehicle with ID 8 is 25.1 meters away at (3.3, 24.8). A pedestrian with ID 2 is 29.4 meters away at (7.7, 28.4). A unknown object with ID 6 is 42.7 meters away at (-8.5, 41.9). A vehicle with ID 1 is 58.6 meters away at (2.2, 58.5).

The vehicle with ID 9 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 [-0.01197037 -0.07445268] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00022518  0.00177322] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.02577371 -0.00695742] m/s.The unknown object with ID 6 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.4) 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 41 is 7.1 meters away at (-1.7, -6.9). A pedestrian with ID 42 is 7.7 meters away at (-5.5, -5.4). A pedestrian with ID 43 is 7.8 meters away at (-4.9, -6.0). A unknown object with ID 44 is 9.1 meters away at (-5.4, -7.4). A unknown object with ID 47 is 9.7 meters away at (-3.7, -8.9). A vehicle with ID 50 is 9.8 meters away at (9.7, -0.3). A unknown object with ID 45 is 11.9 meters away at (-7.4, -9.3). A unknown object with ID 46 is 12.0 meters away at (-7.5, -9.3). A vehicle with ID 53 is 13.9 meters away at (13.9, -0.4). A vehicle with ID 49 is 14.1 meters away at (-14.0, 1.3).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.5632158 -1.4949253] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.92729515 0.7278228 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.8666723 0.8308191] 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 [4.8986816 3.8057904] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -5.5) 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 41 is 8.1 meters away at (-8.1, -0.7). A vehicle with ID 50 is 9.1 meters away at (2.1, 8.8). A vehicle with ID 53 is 10.8 meters away at (6.2, 8.9). A unknown object with ID 47 is 11.5 meters away at (-11.5, 0.4). A pedestrian with ID 43 is 12.1 meters away at (-11.5, 3.7). A pedestrian with ID 42 is 12.3 meters away at (-11.5, 4.2). A unknown object with ID 44 is 13.3 meters away at (-13.2, 2.0). A vehicle with ID 52 is 14.9 meters away at (7.3, 13.0). A unknown object with ID 46 is 15.3 meters away at (-15.3, 0.1). A vehicle with ID 49 is 22.5 meters away at (-11.3, 19.4).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.77693886 -1.2651083 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.7742511 -0.4722448] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.910414  -0.4052252] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 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 [5.512577 5.003926] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.2, -6.5) m/s. Its current heading (yaw) is -0.81 radians with an angular velocity of -0.81 rad/s.

The most relevant actors are: A vehicle with ID 35 is 8.0 meters away at (7.7, 2.3). A vehicle with ID 68 is 14.5 meters away at (8.0, 12.1). A pedestrian with ID 41 is 19.3 meters away at (-17.1, 9.0). A vehicle with ID 53 is 21.5 meters away at (-4.2, 21.1). A vehicle with ID 50 is 22.6 meters away at (-8.3, 21.1). A pedestrian with ID 42 is 24.7 meters away at (-20.0, 14.5). A pedestrian with ID 43 is 25.0 meters away at (-20.6, 14.1). A unknown object with ID 47 is 25.3 meters away at (-21.9, 12.6). A vehicle with ID 52 is 25.4 meters away at (-3.0, 25.2). A unknown object with ID 44 is 27.6 meters away at (-23.7, 14.3).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-5.715316   5.3985567] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.431893   2.7668605] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.827366  -1.2591727] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.86065394 -1.0658667 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.8361532 -1.0380459] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -6.7) m/s. Its current heading (yaw) is -0.73 radians with an angular velocity of -0.73 rad/s.

The most relevant actors are: A vehicle with ID 37 is 14.6 meters away at (13.1, 6.4). A vehicle with ID 35 is 28.7 meters away at (-14.6, 24.6). A vehicle with ID 68 is 31.2 meters away at (-9.4, 29.8). A pedestrian with ID 16 is 31.9 meters away at (19.5, -25.3). A pedestrian with ID 41 is 35.1 meters away at (-29.0, 19.7). A vehicle with ID 53 is 38.6 meters away at (-17.8, 34.3). A vehicle with ID 50 is 40.7 meters away at (-21.9, 34.3). A vehicle with ID 52 is 41.8 meters away at (-16.5, 38.3). A pedestrian with ID 42 is 43.0 meters away at (-33.2, 27.2). A pedestrian with ID 43 is 43.8 meters away at (-33.9, 27.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.095677  4.59889 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-2.7328203  3.1961415] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-1.5241026  1.7617002] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1079859 -0.8007778] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.89808035 -1.0293821 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.24678686  0.9817048 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.1604148 1.048318 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -6.4) 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 3 is 20.2 meters away at (1.0, -20.2). A vehicle with ID 25 is 27.8 meters away at (-1.9, -27.7). A vehicle with ID 26 is 52.9 meters away at (20.7, -48.7). A vehicle with ID 27 is 59.1 meters away at (19.7, -55.7). A vehicle with ID 19 is 66.8 meters away at (19.0, -64.1). A pedestrian with ID 20 is 74.3 meters away at (-54.0, 51.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.1274025 -8.840669 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.04046609  0.8494699 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.10134952 -0.53555435] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 1.1386214 -1.0797853] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -6.3) m/s. Its current heading (yaw) is -1.34 radians with an angular velocity of -1.34 rad/s.

The most relevant actors are: A vehicle with ID 25 is 15.0 meters away at (-4.9, -14.1). A vehicle with ID 3 is 25.4 meters away at (-0.3, -25.4). A vehicle with ID 26 is 40.8 meters away at (17.7, -36.7). A vehicle with ID 27 is 46.5 meters away at (16.7, -43.4). A vehicle with ID 19 is 54.4 meters away at (16.1, -52.0).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0.0394379  0.62740624] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.4824095 -8.831948 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.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 (0.9, -7.6) m/s. Its current heading (yaw) is -1.46 radians with an angular velocity of -1.46 rad/s.

The most relevant actors are: A vehicle with ID 25 is 7.1 meters away at (-6.8, 2.3). A vehicle with ID 26 is 27.5 meters away at (15.5, -22.7). A vehicle with ID 3 is 29.5 meters away at (-2.6, -29.4). A vehicle with ID 27 is 32.8 meters away at (14.6, -29.4). A vehicle with ID 19 is 40.5 meters away at (14.1, -38.0). A vehicle with ID 1 is 58.1 meters away at (3.4, -58.0).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0.76738214 1.5763856 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.41584787 -9.495228  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.23308443 -0.27548227] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -8.1) 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 23 is 15.0 meters away at (13.6, -6.5). A vehicle with ID 26 is 16.3 meters away at (14.8, -6.8). A pedestrian with ID 8 is 18.1 meters away at (11.9, -13.7). A pedestrian with ID 9 is 19.2 meters away at (12.2, -14.8). A vehicle with ID 27 is 19.4 meters away at (13.9, -13.5). A vehicle with ID 25 is 20.7 meters away at (-4.0, 20.3). A vehicle with ID 19 is 26.7 meters away at (13.4, -23.1). A vehicle with ID 3 is 33.6 meters away at (-4.6, -33.3). A vehicle with ID 1 is 42.5 meters away at (2.7, -42.4).

The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.04149665  0.56304204] m/s.The vehicle with ID 26 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 [ 0.03600505 -0.01776127] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.03333737 -0.0127443 ] m/s.The vehicle with ID 27 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 [2.92114   0.3226654] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.01085126 -0.53621227] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ -0.5743533 -10.425967 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, -10.0) m/s. Its current heading (yaw) is -2.05 radians with an angular velocity of -2.05 rad/s.

The most relevant actors are: A vehicle with ID 5 is 15.3 meters away at (4.8, 14.6). A vehicle with ID 59 is 22.2 meters away at (-21.5, 5.6). A vehicle with ID 56 is 22.4 meters away at (-15.8, 15.9). A vehicle with ID 45 is 23.2 meters away at (-3.0, 23.0). A vehicle with ID 46 is 29.0 meters away at (0.4, 29.0). A vehicle with ID 53 is 29.8 meters away at (-7.9, 28.7). A cyclist with ID 47 is 30.8 meters away at (24.5, 18.7). A vehicle with ID 55 is 32.3 meters away at (-11.8, 30.0). A vehicle with ID 49 is 40.3 meters away at (-0.8, 40.3). A vehicle with ID 52 is 44.1 meters away at (-3.0, 44.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.1635203 -10.5244665] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [3.4601262 6.7046676] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [3.9864886 6.973695 ] 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 53 is traveling at a (x, y) velocity of [4.528368  7.1493382] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [-0.5882907 -2.771557 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [4.7744756 7.950097 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.9450665 7.2666893] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [5.5215206 8.447445 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -10.6) m/s. Its current heading (yaw) is -1.97 radians with an angular velocity of -1.97 rad/s.

The most relevant actors are: A vehicle with ID 5 is 13.1 meters away at (2.7, 12.8). A pedestrian with ID 35 is 26.8 meters away at (-2.3, -26.7). A unknown object with ID 33 is 32.9 meters away at (-5.8, -32.4). A unknown object with ID 32 is 33.9 meters away at (-6.6, -33.2). A unknown object with ID 15 is 35.8 meters away at (-7.2, -35.1). A vehicle with ID 59 is 40.5 meters away at (-4.0, 40.3). A vehicle with ID 45 is 43.8 meters away at (6.7, 43.3). A cyclist with ID 7 is 49.1 meters away at (-19.2, -45.1). A vehicle with ID 46 is 50.5 meters away at (10.2, 49.4). A vehicle with ID 56 is 51.2 meters away at (2.7, 51.1).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ -5.548895 -11.444203] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01206689 -0.0139993 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [4.310329 7.61698 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ -3.29072  -11.968221] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [4.788651  7.8007236] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -10.5) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 8.2 meters away at (5.9, -5.8). A vehicle with ID 5 is 11.2 meters away at (0.5, 11.2). A unknown object with ID 38 is 11.6 meters away at (6.6, -9.5). A unknown object with ID 33 is 11.6 meters away at (2.3, -11.4). A unknown object with ID 32 is 12.3 meters away at (1.6, -12.2). A unknown object with ID 15 is 14.1 meters away at (1.0, -14.1). A unknown object with ID 23 is 16.1 meters away at (0.4, -16.1). A unknown object with ID 20 is 21.7 meters away at (-1.3, -21.6). A unknown object with ID 42 is 23.6 meters away at (-1.9, -23.5). A unknown object with ID 36 is 25.6 meters away at (-2.5, -25.5).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.0274219 -0.023462 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -4.697627 -11.59954 ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (-2.7, -9.9) 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 unknown object with ID 20 is 5.1 meters away at (4.9, -1.2). A unknown object with ID 42 is 5.5 meters away at (4.5, -3.1). A unknown object with ID 36 is 6.4 meters away at (3.9, -5.1). A unknown object with ID 43 is 7.8 meters away at (3.2, -7.2). A unknown object with ID 23 is 8.1 meters away at (6.8, 4.5). A vehicle with ID 5 is 8.7 meters away at (-1.9, 8.5). A unknown object with ID 18 is 9.4 meters away at (2.3, -9.1). A unknown object with ID 15 is 9.7 meters away at (7.4, 6.4). A unknown object with ID 32 is 11.4 meters away at (8.0, 8.2). A pedestrian with ID 35 is 19.1 meters away at (12.3, 14.6).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -3.7362032 -11.389362 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01935655 -0.01529253] m/s.

Instruction: Continue straight.