The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.4) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 14.3 meters away at (-9.0, 11.1). A unknown object with ID 17 is 15.2 meters away at (-3.0, 14.9). A unknown object with ID 28 is 17.9 meters away at (-1.6, 17.8). A vehicle with ID 38 is 19.4 meters away at (-4.9, 18.8). A unknown object with ID 27 is 20.8 meters away at (-0.2, 20.8). A unknown object with ID 22 is 23.2 meters away at (2.9, 23.0). A unknown object with ID 21 is 23.7 meters away at (1.7, 23.7). A vehicle with ID 46 is 24.5 meters away at (-2.7, 24.4). A unknown object with ID 14 is 26.9 meters away at (3.4, 26.7). A vehicle with ID 58 is 34.3 meters away at (24.7, -23.8).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2638198  0.4136039] 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 28 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 unknown object with ID 27 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 unknown object with ID 21 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -2.3) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A vehicle with ID 58 is 25.3 meters away at (16.6, -19.1). A pedestrian with ID 42 is 25.7 meters away at (-19.5, 16.7). A unknown object with ID 27 is 26.8 meters away at (-8.2, 25.5). A vehicle with ID 38 is 27.0 meters away at (-13.1, 23.6). A unknown object with ID 21 is 29.1 meters away at (-6.2, 28.5). A vehicle with ID 46 is 31.0 meters away at (-10.8, 29.1). A unknown object with ID 14 is 31.8 meters away at (-4.5, 31.5). A vehicle with ID 15 is 33.0 meters away at (23.6, -23.0). A pedestrian with ID 39 is 41.1 meters away at (38.9, -13.3). A vehicle with ID 43 is 42.3 meters away at (38.8, -16.9).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2182931   0.43202284] m/s.The unknown object with ID 27 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 unknown object with ID 21 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.02815089 0.00500813] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -2.2) m/s. Its current heading (yaw) is -0.52 radians with an angular velocity of -0.52 rad/s.

The most relevant actors are: A vehicle with ID 58 is 17.2 meters away at (9.0, -14.6). A vehicle with ID 15 is 24.5 meters away at (16.1, -18.5). A pedestrian with ID 39 is 32.5 meters away at (31.3, -8.9). A vehicle with ID 43 is 33.6 meters away at (31.2, -12.4). A vehicle with ID 38 is 34.9 meters away at (-20.7, 28.1). A pedestrian with ID 42 is 36.8 meters away at (-29.6, 21.9). A vehicle with ID 46 is 38.3 meters away at (-18.3, 33.6). A vehicle with ID 31 is 43.6 meters away at (28.9, -32.7). A vehicle with ID 9 is 44.1 meters away at (21.1, -38.8). A vehicle with ID 12 is 44.6 meters away at (34.9, -27.7).

The vehicle with ID 58 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 39 is traveling at a (x, y) velocity of [0.01124648 0.00087003] m/s.The vehicle with ID 43 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 pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.3167272   0.35757846] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 2.9) m/s. Its current heading (yaw) is 1.23 radians with an angular velocity of 1.23 rad/s.

The most relevant actors are: A vehicle with ID 30 is 6.7 meters away at (5.2, 4.3). A vehicle with ID 26 is 6.9 meters away at (-5.1, 4.7). A vehicle with ID 28 is 7.4 meters away at (0.9, -7.3). A vehicle with ID 32 is 11.7 meters away at (6.9, 9.4). A vehicle with ID 29 is 12.3 meters away at (-9.4, -8.0). A vehicle with ID 25 is 17.1 meters away at (-0.8, 17.1). A vehicle with ID 31 is 17.6 meters away at (-11.4, -13.4). A vehicle with ID 5 is 18.3 meters away at (9.0, 16.0). A vehicle with ID 27 is 23.4 meters away at (-5.9, 22.7). A vehicle with ID 6 is 24.8 meters away at (11.4, 22.0).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 27 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. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 3.9) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 30 is 3.7 meters away at (2.8, -2.4). A vehicle with ID 32 is 5.2 meters away at (4.5, 2.5). A vehicle with ID 26 is 7.7 meters away at (-7.4, -2.0). A vehicle with ID 25 is 10.7 meters away at (-3.2, 10.2). A vehicle with ID 5 is 11.3 meters away at (6.6, 9.2). A vehicle with ID 28 is 14.2 meters away at (-1.5, -14.2). A vehicle with ID 6 is 17.7 meters away at (9.0, 15.2). A vehicle with ID 27 is 17.9 meters away at (-8.3, 15.8). A vehicle with ID 29 is 18.9 meters away at (-11.8, -14.8). A vehicle with ID 3 is 19.9 meters away at (-10.6, 16.9).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 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 29 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, 4.6) m/s. Its current heading (yaw) is 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A vehicle with ID 5 is 4.0 meters away at (3.9, 0.9). A vehicle with ID 32 is 5.8 meters away at (1.8, -5.6). A vehicle with ID 25 is 6.3 meters away at (-5.9, 2.0). A vehicle with ID 6 is 9.3 meters away at (6.3, 6.8). A vehicle with ID 30 is 10.7 meters away at (0.0, -10.7). A vehicle with ID 27 is 13.3 meters away at (-11.0, 7.5). A vehicle with ID 26 is 14.4 meters away at (-10.2, -10.3). A vehicle with ID 3 is 15.8 meters away at (-13.3, 8.6). A vehicle with ID 12 is 18.2 meters away at (-15.9, 9.0). A vehicle with ID 16 is 21.1 meters away at (-18.5, 10.2).

The vehicle with ID 5 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 25 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. 0.] m/s.The vehicle with ID 30 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 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. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.5) m/s. Its current heading (yaw) is 1.26 radians with an angular velocity of 1.26 rad/s.

The most relevant actors are: A vehicle with ID 6 is 4.3 meters away at (3.0, -3.0). A vehicle with ID 5 is 8.9 meters away at (0.6, -8.9). A vehicle with ID 25 is 12.2 meters away at (-9.2, -7.9). A vehicle with ID 27 is 14.5 meters away at (-14.3, -2.3). A vehicle with ID 32 is 15.6 meters away at (-1.5, -15.5). A vehicle with ID 3 is 16.6 meters away at (-16.6, -1.3). A vehicle with ID 12 is 19.2 meters away at (-19.2, -1.0). A vehicle with ID 30 is 21.0 meters away at (-3.3, -20.7). A vehicle with ID 16 is 21.7 meters away at (-21.7, 0.3). A vehicle with ID 26 is 24.4 meters away at (-13.5, -20.3).

The vehicle with ID 6 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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.The vehicle with ID 30 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, 3.2) m/s. Its current heading (yaw) is 0.40 radians with an angular velocity of 0.40 rad/s.

The most relevant actors are: A unknown object with ID 3 is 26.1 meters away at (-24.6, -8.8). A pedestrian with ID 17 is 46.7 meters away at (46.7, -0.9). A pedestrian with ID 18 is 47.9 meters away at (47.9, -1.8).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.4377861   0.40661162] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.4154073  0.4851348] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, 2.3) m/s. Its current heading (yaw) is 0.31 radians with an angular velocity of 0.31 rad/s.

The most relevant actors are: A pedestrian with ID 17 is 29.8 meters away at (29.3, -5.5). A pedestrian with ID 18 is 31.1 meters away at (30.5, -6.3). A unknown object with ID 3 is 41.7 meters away at (-39.1, -14.6).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.4157299  0.4051198] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.3371972   0.36827868] m/s.The unknown object 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 (6.8, 0.8) m/s. Its current heading (yaw) is 0.12 radians with an angular velocity of 0.12 rad/s.

The most relevant actors are: A pedestrian with ID 17 is 14.9 meters away at (12.6, -7.8). A pedestrian with ID 18 is 16.4 meters away at (13.9, -8.7).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.5361482   0.38397062] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.4512941   0.41411656] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -1.3) m/s. Its current heading (yaw) is -0.19 radians with an angular velocity of -0.19 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 8.3 meters away at (-2.9, -7.8). A pedestrian with ID 17 is 8.5 meters away at (-4.3, -7.3).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.4662286  -0.03094418] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.3999789  -0.08712016] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.5) m/s. Its current heading (yaw) is -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A pedestrian with ID 36 is 7.2 meters away at (-6.9, -1.9). A vehicle with ID 29 is 8.2 meters away at (-2.9, -7.7). A vehicle with ID 30 is 14.9 meters away at (-4.9, -14.1). A pedestrian with ID 42 is 17.7 meters away at (13.2, 11.8). A vehicle with ID 44 is 20.3 meters away at (-10.0, 17.6). A vehicle with ID 46 is 22.8 meters away at (-1.8, 22.7). A pedestrian with ID 45 is 25.9 meters away at (20.6, 15.7). A vehicle with ID 49 is 26.3 meters away at (-8.5, 24.9). A vehicle with ID 50 is 27.0 meters away at (24.9, 10.4). A vehicle with ID 51 is 29.5 meters away at (26.5, 13.0).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.42304167 0.9615553 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7779196 -1.0279524] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.2748008 1.1455005] m/s.The vehicle with ID 49 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 29 is 7.8 meters away at (-2.8, -7.3). A vehicle with ID 30 is 14.5 meters away at (-4.8, -13.7). A pedestrian with ID 42 is 15.4 meters away at (11.7, 10.0). A pedestrian with ID 53 is 17.3 meters away at (-4.9, 16.6). A unknown object with ID 9 is 22.9 meters away at (-9.3, -21.0). A vehicle with ID 46 is 23.1 meters away at (-1.7, 23.0). A vehicle with ID 49 is 26.6 meters away at (-8.4, 25.2). A pedestrian with ID 56 is 27.0 meters away at (20.2, 17.9). A vehicle with ID 50 is 27.2 meters away at (25.0, 10.8). A pedestrian with ID 45 is 29.4 meters away at (23.0, 18.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.7480437 -1.1282156] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [1.4059678 0.6320466] m/s.The unknown object with ID 9 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 49 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 [-0.91495234 -1.2366834 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.1067982 1.1172005] 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 -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A vehicle with ID 29 is 7.7 meters away at (-2.7, -7.2). A pedestrian with ID 42 is 12.7 meters away at (10.2, 7.6). A vehicle with ID 30 is 14.5 meters away at (-4.8, -13.7). A pedestrian with ID 53 is 18.5 meters away at (-1.2, 18.4). A unknown object with ID 9 is 22.9 meters away at (-9.3, -21.0). A vehicle with ID 46 is 23.2 meters away at (-1.7, 23.1). A pedestrian with ID 56 is 23.8 meters away at (18.1, 15.5). A vehicle with ID 50 is 27.2 meters away at (25.0, 10.8). A vehicle with ID 51 is 29.9 meters away at (26.7, 13.4). A pedestrian with ID 64 is 30.3 meters away at (21.4, 21.5).

The vehicle with ID 29 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 [-0.6092007 -1.3351847] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [1.3580221  0.98149925] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0743797 -1.125781 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.98575974 -0.9597839 ] 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 -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A vehicle with ID 29 is 7.7 meters away at (-2.8, -7.2). A pedestrian with ID 42 is 10.3 meters away at (9.0, 5.0). A vehicle with ID 30 is 14.4 meters away at (-4.9, -13.5). A pedestrian with ID 56 is 20.8 meters away at (16.2, 13.1). A pedestrian with ID 53 is 21.2 meters away at (1.4, 21.2). A vehicle with ID 46 is 23.2 meters away at (-1.5, 23.2). A vehicle with ID 50 is 27.3 meters away at (25.1, 10.7). A pedestrian with ID 64 is 27.4 meters away at (19.6, 19.2). A vehicle with ID 51 is 29.9 meters away at (26.7, 13.4). A vehicle with ID 54 is 33.9 meters away at (32.7, 8.7).

The vehicle with ID 29 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 [-0.54412484 -1.3503611 ] m/s.The vehicle with ID 30 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 [-0.7758361 -1.3318671] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [1.0847102 1.6008528] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.7932102 -1.288301 ] 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.4) m/s. Its current heading (yaw) is -0.59 radians with an angular velocity of -0.59 rad/s.

The most relevant actors are: A vehicle with ID 8 is 3.2 meters away at (-0.4, -3.2). A unknown object with ID 102 is 8.6 meters away at (8.2, 2.7). A unknown object with ID 127 is 13.9 meters away at (7.9, 11.5). A unknown object with ID 64 is 14.1 meters away at (5.2, 13.1). A unknown object with ID 125 is 14.4 meters away at (10.6, 9.7). A unknown object with ID 114 is 16.5 meters away at (15.0, 6.7). A unknown object with ID 112 is 18.5 meters away at (17.7, 5.2). A unknown object with ID 124 is 19.7 meters away at (18.2, 7.5). A unknown object with ID 109 is 20.8 meters away at (20.5, 3.3). A unknown object with ID 119 is 21.5 meters away at (20.7, 5.8).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 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 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 8 is 3.1 meters away at (-0.7, -3.0). A unknown object with ID 102 is 8.4 meters away at (7.9, 2.9). A unknown object with ID 127 is 13.9 meters away at (7.6, 11.6). A unknown object with ID 125 is 14.2 meters away at (10.2, 9.9). A unknown object with ID 64 is 14.3 meters away at (4.9, 13.4). A unknown object with ID 114 is 16.2 meters away at (14.7, 6.9). A unknown object with ID 112 is 18.3 meters away at (17.4, 5.4). A unknown object with ID 124 is 19.5 meters away at (17.9, 7.7). A unknown object with ID 109 is 20.6 meters away at (20.3, 3.5). A unknown object with ID 119 is 21.2 meters away at (20.4, 6.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 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 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 8 is 3.0 meters away at (-0.8, -2.9). A unknown object with ID 102 is 8.3 meters away at (7.8, 2.9). A unknown object with ID 127 is 13.9 meters away at (7.6, 11.7). A unknown object with ID 125 is 14.2 meters away at (10.1, 10.0). A unknown object with ID 64 is 14.3 meters away at (4.9, 13.4). A unknown object with ID 114 is 16.2 meters away at (14.7, 7.0). A unknown object with ID 112 is 18.2 meters away at (17.4, 5.5). A unknown object with ID 124 is 19.5 meters away at (17.9, 7.8). A unknown object with ID 109 is 20.5 meters away at (20.2, 3.5). A unknown object with ID 119 is 21.2 meters away at (20.3, 6.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 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 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 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 (2.8, -1.9) m/s. Its current heading (yaw) is -0.60 radians with an angular velocity of -0.60 rad/s.

The most relevant actors are: A vehicle with ID 8 is 3.2 meters away at (-2.8, -1.6). A unknown object with ID 102 is 7.1 meters away at (5.4, 4.6). A unknown object with ID 125 is 14.0 meters away at (7.8, 11.7). A unknown object with ID 88 is 14.2 meters away at (9.1, 10.9). A unknown object with ID 127 is 14.3 meters away at (5.1, 13.3). A unknown object with ID 114 is 15.0 meters away at (12.2, 8.6). A unknown object with ID 64 is 15.3 meters away at (2.5, 15.1). A unknown object with ID 112 is 16.6 meters away at (14.9, 7.1). A unknown object with ID 124 is 18.1 meters away at (15.4, 9.4). A unknown object with ID 109 is 18.5 meters away at (17.8, 5.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.8375083 -0.5807945] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 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 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.5) m/s. Its current heading (yaw) is 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 21 is 4.0 meters away at (2.2, 3.4). A vehicle with ID 23 is 9.1 meters away at (-8.6, 3.0). A unknown object with ID 26 is 9.4 meters away at (-3.4, -8.7). A unknown object with ID 29 is 9.8 meters away at (-0.4, -9.8). A unknown object with ID 25 is 10.1 meters away at (-6.6, -7.6). A unknown object with ID 31 is 11.4 meters away at (0.8, -11.3). A unknown object with ID 28 is 11.8 meters away at (-9.7, -6.6). A vehicle with ID 34 is 13.6 meters away at (4.8, -12.7). A unknown object with ID 30 is 13.7 meters away at (-11.6, -7.1). A vehicle with ID 36 is 16.6 meters away at (-15.9, 4.9).

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 [-1.2061036  0.3966909] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 30 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 [-1.1731833  0.3669331] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.3) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A vehicle with ID 21 is 5.1 meters away at (4.3, 2.7). A vehicle with ID 23 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 25 is 9.4 meters away at (-4.4, -8.3). A unknown object with ID 26 is 9.5 meters away at (-1.3, -9.4). A unknown object with ID 28 is 10.5 meters away at (-7.5, -7.3). A unknown object with ID 29 is 10.6 meters away at (1.8, -10.4). A unknown object with ID 30 is 12.3 meters away at (-9.5, -7.8). A unknown object with ID 31 is 12.4 meters away at (2.9, -12.0). A vehicle with ID 32 is 15.0 meters away at (14.3, -4.5). A vehicle with ID 34 is 15.1 meters away at (7.0, -13.4).

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 [-1.0517896   0.31964654] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 [-1.8488202  0.6215563] m/s.The vehicle with ID 34 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 (-0.8, 0.2) m/s. Its current heading (yaw) is 2.85 radians with an angular velocity of 2.85 rad/s.

The most relevant actors are: A vehicle with ID 21 is 6.5 meters away at (6.1, 2.2). A vehicle with ID 23 is 9.0 meters away at (-8.5, 3.0). A unknown object with ID 25 is 9.3 meters away at (-2.7, -8.9). A unknown object with ID 28 is 9.8 meters away at (-5.8, -7.9). A unknown object with ID 26 is 10.0 meters away at (0.5, -10.0). A unknown object with ID 30 is 11.4 meters away at (-7.7, -8.4). A unknown object with ID 29 is 11.6 meters away at (3.6, -11.0). A unknown object with ID 31 is 13.4 meters away at (4.7, -12.6). A vehicle with ID 32 is 13.5 meters away at (12.9, -4.0). A vehicle with ID 34 is 16.5 meters away at (8.8, -14.0).

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 [-1.0095032  0.3005888] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.3252397   0.43194857] m/s.The vehicle with ID 34 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 (-0.6, 0.2) m/s. Its current heading (yaw) is 2.87 radians with an angular velocity of 2.87 rad/s.

The most relevant actors are: A vehicle with ID 21 is 7.6 meters away at (7.3, 1.8). A unknown object with ID 28 is 9.4 meters away at (-4.5, -8.2). A unknown object with ID 25 is 9.4 meters away at (-1.4, -9.3). A vehicle with ID 23 is 9.5 meters away at (-9.0, 3.1). A unknown object with ID 26 is 10.5 meters away at (1.8, -10.4). A unknown object with ID 30 is 10.9 meters away at (-6.4, -8.8). A unknown object with ID 29 is 12.4 meters away at (4.9, -11.4). A vehicle with ID 32 is 12.6 meters away at (12.0, -3.7). A unknown object with ID 31 is 14.3 meters away at (6.0, -13.0). A pedestrian with ID 37 is 15.4 meters away at (-12.9, 8.4).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.95941657  0.2961936 ] m/s.The unknown object with ID 26 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 unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-0.9321999  0.2972616] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.14568818 -0.0746088 ] 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, 4.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 44 is 5.2 meters away at (-1.1, -5.0). A vehicle with ID 43 is 11.0 meters away at (-10.6, 3.0). A pedestrian with ID 35 is 43.1 meters away at (38.0, -20.3). A vehicle with ID 46 is 44.7 meters away at (39.8, -20.3). A vehicle with ID 47 is 50.7 meters away at (42.0, -28.5). A vehicle with ID 48 is 51.0 meters away at (37.4, -34.6). A vehicle with ID 11 is 53.2 meters away at (48.8, -21.1). A vehicle with ID 9 is 56.2 meters away at (8.3, 55.5). A vehicle with ID 50 is 57.1 meters away at (55.6, -12.9). A vehicle with ID 49 is 58.7 meters away at (55.8, -18.0).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.00259654 -0.04170324] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.8317644 0.9797733] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [1.7168244 1.9532427] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.7) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 43 is 6.3 meters away at (0.5, -6.3). A unknown object with ID 25 is 7.6 meters away at (7.5, -1.1). A pedestrian with ID 6 is 8.0 meters away at (-6.9, -4.1). A vehicle with ID 44 is 17.5 meters away at (10.1, -14.3). A unknown object with ID 18 is 34.4 meters away at (-31.8, 13.2). A vehicle with ID 9 is 50.1 meters away at (19.4, 46.2). A vehicle with ID 46 is 59.0 meters away at (51.1, -29.6). A vehicle with ID 47 is 65.3 meters away at (53.3, -37.7). A vehicle with ID 48 is 65.5 meters away at (49.2, -43.3). A pedestrian with ID 4 is 66.4 meters away at (-31.1, 58.6).

The vehicle with ID 43 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 pedestrian with ID 6 is traveling at a (x, y) velocity of [0.04639323 0.02322754] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.35797256 -0.9897055 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.4) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 14.0 meters away at (4.4, -13.3). A vehicle with ID 43 is 19.3 meters away at (11.6, -15.4). A unknown object with ID 18 is 21.2 meters away at (-20.8, 4.2). A vehicle with ID 40 is 28.7 meters away at (-28.6, 2.8). A vehicle with ID 44 is 31.5 meters away at (21.2, -23.4). A vehicle with ID 33 is 38.0 meters away at (-35.2, 14.2). A pedestrian with ID 38 is 40.5 meters away at (-40.3, 4.6). A vehicle with ID 9 is 48.0 meters away at (30.5, 37.1). A pedestrian with ID 4 is 51.2 meters away at (-18.6, 47.7). A unknown object with ID 2 is 69.2 meters away at (-52.9, 44.6).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.4156985  -0.34405568] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [-0.69552964  0.7035385 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.14095186  0.14287825] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.0164801 -0.8331777] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.2) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 18 is 11.4 meters away at (-10.6, -4.4). A unknown object with ID 39 is 23.0 meters away at (-20.5, -10.4). A vehicle with ID 33 is 25.7 meters away at (-25.1, 5.5). A pedestrian with ID 6 is 27.5 meters away at (15.4, -22.8). A vehicle with ID 43 is 32.4 meters away at (21.9, -23.9). A pedestrian with ID 4 is 37.8 meters away at (-6.6, 37.2). A vehicle with ID 44 is 45.0 meters away at (31.6, -32.0). A vehicle with ID 9 is 49.7 meters away at (40.6, 28.6). A unknown object with ID 2 is 55.8 meters away at (-42.7, 35.9). A unknown object with ID 3 is 56.0 meters away at (-44.4, 34.0).

The unknown object with ID 18 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 vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.17570817 -0.21463954] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.97975034 -0.88168067] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 1.4) m/s. Its current heading (yaw) is 2.28 radians with an angular velocity of 2.28 rad/s.

The most relevant actors are: A pedestrian with ID 32 is 11.0 meters away at (-0.8, 10.9). A pedestrian with ID 12 is 14.1 meters away at (-9.5, 10.4). A pedestrian with ID 36 is 27.9 meters away at (19.2, 20.2). A pedestrian with ID 25 is 38.4 meters away at (11.9, 36.5). A pedestrian with ID 26 is 48.6 meters away at (14.5, 46.4). A vehicle with ID 37 is 49.9 meters away at (-7.7, -49.3). A pedestrian with ID 38 is 53.1 meters away at (22.6, 48.0). A pedestrian with ID 35 is 58.3 meters away at (-56.2, 15.5). A vehicle with ID 31 is 60.9 meters away at (-60.8, 2.9). A pedestrian with ID 9 is 61.3 meters away at (-59.4, 15.1).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.960088   -0.62137544] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.0389498  -0.09363604] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.5854001  -0.21152905] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.35680458 -1.5809385 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.03170037 -0.2540887 ] m/s.The vehicle with ID 37 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 [-0.30160615 -0.06680825] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.006468    0.01628612] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-1.3749831  -0.02720364] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.68161815 -0.49692953] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.6) m/s. Its current heading (yaw) is 2.75 radians with an angular velocity of 2.75 rad/s.

The most relevant actors are: A pedestrian with ID 32 is 5.9 meters away at (2.9, 5.1). A pedestrian with ID 12 is 9.5 meters away at (-6.7, 6.7). A pedestrian with ID 36 is 31.7 meters away at (27.3, 16.2). A pedestrian with ID 25 is 34.0 meters away at (16.1, 29.9). A pedestrian with ID 26 is 46.7 meters away at (19.6, 42.4). A pedestrian with ID 35 is 52.5 meters away at (-51.2, 11.9). A pedestrian with ID 3 is 52.9 meters away at (-51.3, 12.7). A vehicle with ID 37 is 53.0 meters away at (-2.8, -53.0). A pedestrian with ID 6 is 54.6 meters away at (-53.1, 12.7). A pedestrian with ID 5 is 54.6 meters away at (-53.3, 11.7).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.4261066 -1.419381 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1539557  -0.07702167] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.4084752  0.12409534] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.36848453 -1.2991984 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.4606087 -0.6798784] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.5554478  -0.33252597] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.8410119 -0.4305455] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.89056295 -0.42024517] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.1204972 -0.6534479] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, -0.1) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 5.5 meters away at (1.3, 5.3). A pedestrian with ID 32 is 11.9 meters away at (11.9, -0.3). A pedestrian with ID 35 is 42.2 meters away at (-41.0, 10.3). A pedestrian with ID 36 is 43.2 meters away at (40.4, 15.3). A pedestrian with ID 3 is 44.1 meters away at (-42.9, 10.0). A vehicle with ID 31 is 46.0 meters away at (-45.9, -2.2). A pedestrian with ID 6 is 46.0 meters away at (-45.0, 9.5). A pedestrian with ID 5 is 46.1 meters away at (-45.2, 9.1). A pedestrian with ID 7 is 46.5 meters away at (-45.4, 10.1). A pedestrian with ID 8 is 50.4 meters away at (-49.6, 9.0).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.2318504   0.07575998] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-1.0418373 -2.713467 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.59804153 -0.5710278 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.281971  0.6838896] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2001146 -0.7800055] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.5007526 -0.7494084] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.435245  -0.6278324] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.362348  -0.5556196] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.4227886 -0.368837 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.3) m/s. Its current heading (yaw) is -3.09 radians with an angular velocity of -3.09 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 13.0 meters away at (11.5, 6.1). A pedestrian with ID 32 is 21.5 meters away at (20.9, -5.1). A pedestrian with ID 1 is 31.5 meters away at (-29.5, 11.0). A pedestrian with ID 35 is 31.8 meters away at (-30.3, 9.7). A pedestrian with ID 2 is 32.2 meters away at (-30.0, 11.8). A vehicle with ID 31 is 33.4 meters away at (-33.3, -1.7). A pedestrian with ID 3 is 34.1 meters away at (-32.7, 9.5). A pedestrian with ID 5 is 36.7 meters away at (-35.7, 8.4). A pedestrian with ID 6 is 36.7 meters away at (-35.5, 9.5). A pedestrian with ID 7 is 37.0 meters away at (-35.6, 10.1).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.3360118  -0.03721385] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-2.2807484 -1.7497405] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.0676638 -1.0070392] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2486813 -0.7886373] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.93557215 -1.0276747 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.4514434 -0.5308791] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.5760839  -0.27178726] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.4615946  -0.19213651] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.4419229  -0.12376629] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.9) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A vehicle with ID 83 is 3.9 meters away at (-3.9, -0.6). A vehicle with ID 84 is 6.6 meters away at (1.3, 6.5). A vehicle with ID 85 is 10.7 meters away at (-2.8, 10.3). A vehicle with ID 26 is 13.2 meters away at (-10.0, 8.5). A vehicle with ID 102 is 13.5 meters away at (-1.0, -13.5). A vehicle with ID 86 is 14.9 meters away at (-6.6, 13.4). A unknown object with ID 89 is 16.4 meters away at (-1.3, 16.4). A unknown object with ID 91 is 17.7 meters away at (-2.4, 17.5). A unknown object with ID 92 is 17.9 meters away at (-2.6, 17.7). A unknown object with ID 93 is 18.0 meters away at (-2.8, 17.8).

The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.78876   -2.4284787] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.68 radians with an angular velocity of -0.68 rad/s.

The most relevant actors are: A vehicle with ID 83 is 4.4 meters away at (-4.4, -0.1). A vehicle with ID 84 is 7.0 meters away at (0.8, 6.9). A pedestrian with ID 68 is 8.9 meters away at (-8.2, -3.2). A vehicle with ID 26 is 9.7 meters away at (-7.4, 6.3). A vehicle with ID 85 is 11.3 meters away at (-3.3, 10.8). A vehicle with ID 102 is 13.2 meters away at (-1.6, -13.1). A vehicle with ID 86 is 15.6 meters away at (-7.1, 13.9). A unknown object with ID 89 is 16.9 meters away at (-1.8, 16.8). A unknown object with ID 91 is 18.1 meters away at (-2.9, 17.9). A unknown object with ID 93 is 18.4 meters away at (-3.2, 18.1).

The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.3290936  0.55237526] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.6131314  -0.52803093] m/s.The vehicle with ID 85 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 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.1) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A vehicle with ID 83 is 8.3 meters away at (-8.0, 2.1). A vehicle with ID 84 is 9.3 meters away at (-2.5, 9.0). A vehicle with ID 26 is 12.0 meters away at (-9.5, 7.2). A pedestrian with ID 68 is 12.0 meters away at (-12.0, -0.2). A vehicle with ID 102 is 12.1 meters away at (-5.2, -11.0). A vehicle with ID 85 is 14.6 meters away at (-6.8, 13.0). A vehicle with ID 81 is 17.3 meters away at (13.7, 10.6). A vehicle with ID 105 is 17.5 meters away at (10.6, -13.9). A vehicle with ID 78 is 18.0 meters away at (-9.1, -15.6). A vehicle with ID 86 is 19.2 meters away at (-10.5, 16.0).

The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 1.08402   -0.9052624] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.26279083  0.44123098] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 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 86 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 (4.5, 2.6) m/s. Its current heading (yaw) is 0.52 radians with an angular velocity of 0.52 rad/s.

The most relevant actors are: A vehicle with ID 81 is 11.0 meters away at (5.1, 9.8). A vehicle with ID 84 is 13.8 meters away at (-11.2, 8.1). A vehicle with ID 100 is 14.5 meters away at (10.1, -10.3). A vehicle with ID 105 is 14.9 meters away at (2.0, -14.8). A vehicle with ID 26 is 14.9 meters away at (-14.6, 3.2). A vehicle with ID 83 is 16.7 meters away at (-16.6, 1.2). A vehicle with ID 16 is 17.9 meters away at (9.5, 15.1). A vehicle with ID 102 is 18.2 meters away at (-13.7, -11.9). A vehicle with ID 109 is 19.6 meters away at (6.2, -18.6). A vehicle with ID 85 is 19.7 meters away at (-15.5, 12.1).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.0980783 -1.782822 ] m/s.The vehicle with ID 83 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 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.1) m/s. Its current heading (yaw) is 1.09 radians with an angular velocity of 1.09 rad/s.

The most relevant actors are: A unknown object with ID 41 is 6.3 meters away at (6.0, -1.9). A vehicle with ID 40 is 7.0 meters away at (-6.8, 1.6). A vehicle with ID 42 is 11.4 meters away at (-10.9, -3.3). A vehicle with ID 43 is 14.6 meters away at (-6.2, -13.2). A vehicle with ID 44 is 17.5 meters away at (-15.2, -8.6). A vehicle with ID 45 is 19.9 meters away at (-10.1, -17.2). A pedestrian with ID 7 is 22.9 meters away at (-17.9, 14.4). A vehicle with ID 46 is 23.6 meters away at (-19.4, -13.4). A pedestrian with ID 11 is 24.0 meters away at (-18.4, 15.4). A vehicle with ID 47 is 26.3 meters away at (-14.1, -22.2).

The unknown object with ID 41 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 vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.03027612 -0.01590648] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.03322517 -0.010778  ] m/s.The vehicle with ID 47 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 (-1.0, 4.4) m/s. Its current heading (yaw) is 1.79 radians with an angular velocity of 1.79 rad/s.

The most relevant actors are: A vehicle with ID 40 is 9.4 meters away at (-8.0, -5.1). A unknown object with ID 41 is 9.8 meters away at (4.8, -8.6). A vehicle with ID 42 is 15.7 meters away at (-12.1, -10.0). A pedestrian with ID 7 is 20.4 meters away at (-18.9, 7.8). A vehicle with ID 43 is 21.2 meters away at (-7.3, -19.9). A pedestrian with ID 11 is 21.4 meters away at (-19.5, 8.8). A vehicle with ID 44 is 22.4 meters away at (-16.4, -15.3). A vehicle with ID 45 is 26.3 meters away at (-11.1, -23.8). A vehicle with ID 46 is 28.8 meters away at (-20.6, -20.1). A vehicle with ID 47 is 32.7 meters away at (-15.2, -28.9).

The vehicle with ID 40 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 42 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 [0.01179604 0.01234698] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00285676 -0.00380197] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 4.6) m/s. Its current heading (yaw) is 2.33 radians with an angular velocity of 2.33 rad/s.

The most relevant actors are: A pedestrian with ID 7 is 13.1 meters away at (-13.0, -1.4). A pedestrian with ID 11 is 13.9 meters away at (-13.9, -0.4). A vehicle with ID 40 is 14.3 meters away at (-2.4, -14.1). A vehicle with ID 42 is 20.1 meters away at (-6.5, -19.0). A vehicle with ID 44 is 26.7 meters away at (-10.9, -24.4). A vehicle with ID 43 is 29.0 meters away at (-1.7, -29.0). A vehicle with ID 46 is 32.8 meters away at (-15.0, -29.2). A vehicle with ID 45 is 33.4 meters away at (-5.5, -33.0). A unknown object with ID 25 is 35.1 meters away at (-24.9, 24.8). A vehicle with ID 47 is 39.3 meters away at (-9.5, -38.1).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.05883286 0.02585208] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00504568 -0.01440035] m/s.The vehicle with ID 40 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 43 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 45 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 47 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 (-6.0, 4.3) m/s. Its current heading (yaw) is 2.51 radians with an angular velocity of 2.51 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 9.7 meters away at (-3.5, -9.1). A pedestrian with ID 7 is 10.1 meters away at (-2.8, -9.7). A vehicle with ID 40 is 24.2 meters away at (8.0, -22.8). A vehicle with ID 42 is 28.2 meters away at (3.8, -27.9). A vehicle with ID 55 is 36.7 meters away at (20.2, 30.6). A vehicle with ID 54 is 36.7 meters away at (15.4, 33.3). A vehicle with ID 50 is 37.7 meters away at (10.7, 36.2). A vehicle with ID 43 is 38.7 meters away at (8.7, -37.8). A vehicle with ID 1 is 42.9 meters away at (-40.1, 15.1). A cyclist with ID 10 is 50.9 meters away at (-16.0, 48.3).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.1169659  -0.02552399] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.07914326  0.40017778] m/s.The vehicle with ID 40 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 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 vehicle with ID 50 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-8.364645  5.289972] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.5) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A vehicle with ID 36 is 10.6 meters away at (-3.7, 9.9). A vehicle with ID 37 is 17.6 meters away at (-7.8, 15.8). A vehicle with ID 2 is 28.1 meters away at (3.0, -27.9). A vehicle with ID 28 is 31.6 meters away at (-27.1, -16.3). A vehicle with ID 12 is 34.1 meters away at (-30.5, -15.4). A vehicle with ID 43 is 43.3 meters away at (-4.2, -43.1). A vehicle with ID 16 is 48.1 meters away at (-47.9, 4.7). A pedestrian with ID 40 is 52.2 meters away at (-42.3, 30.6). A vehicle with ID 42 is 52.5 meters away at (-51.8, 8.4). A unknown object with ID 45 is 68.4 meters away at (-47.5, 49.2).

The vehicle with ID 36 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 2 is traveling at a (x, y) velocity of [2.9497256 3.5524983] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0.381486   0.23688859] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.8258413   0.61485386] m/s.The vehicle with ID 43 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.9002912   0.94707173] m/s.The vehicle with ID 42 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.5) m/s. Its current heading (yaw) is -0.69 radians with an angular velocity of -0.69 rad/s.

The most relevant actors are: A vehicle with ID 36 is 14.8 meters away at (-7.3, 12.9). A vehicle with ID 2 is 19.3 meters away at (4.5, -18.8). A vehicle with ID 37 is 21.8 meters away at (-11.2, 18.7). A pedestrian with ID 32 is 29.4 meters away at (25.6, -14.5). A unknown object with ID 10 is 29.4 meters away at (-14.5, -25.6). A vehicle with ID 28 is 33.1 meters away at (-30.4, -13.1). A vehicle with ID 12 is 36.5 meters away at (-34.4, -12.0). A vehicle with ID 43 is 40.7 meters away at (-7.8, -40.0). A unknown object with ID 15 is 42.2 meters away at (37.6, -19.2). A vehicle with ID 16 is 51.9 meters away at (-51.3, 7.8).

The vehicle with ID 36 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 [1.5201778 1.9030622] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.31627548  0.2102919 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.32173622 -0.24227281] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -3.7) m/s. Its current heading (yaw) is -0.69 radians with an angular velocity of -0.69 rad/s.

The most relevant actors are: A vehicle with ID 2 is 11.9 meters away at (-0.9, -11.8). A vehicle with ID 36 is 23.1 meters away at (-13.9, 18.5). A unknown object with ID 10 is 29.2 meters away at (-21.3, -20.1). A vehicle with ID 43 is 37.4 meters away at (-14.4, -34.5). A vehicle with ID 12 is 41.2 meters away at (-40.5, -7.2). A unknown object with ID 11 is 42.6 meters away at (37.9, -19.6). A pedestrian with ID 8 is 46.0 meters away at (-45.1, -9.2). A unknown object with ID 23 is 51.6 meters away at (44.8, -25.6). A vehicle with ID 21 is 52.6 meters away at (-25.8, -45.9). A vehicle with ID 7 is 53.2 meters away at (-29.0, -44.7).

The vehicle with ID 2 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 unknown object with ID 10 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.8462869  -0.71413964] m/s.The unknown object 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 7 is traveling at a (x, y) velocity of [0.25702637 0.29860228] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.0, -5.2) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A vehicle with ID 2 is 11.1 meters away at (-11.0, -1.9). A unknown object with ID 10 is 33.9 meters away at (-32.2, -10.5). A vehicle with ID 43 is 35.6 meters away at (-25.4, -25.0). A vehicle with ID 36 is 37.3 meters away at (-24.7, 27.9). A vehicle with ID 22 is 40.4 meters away at (-31.4, -25.4). A vehicle with ID 19 is 44.8 meters away at (-29.1, 34.0). A vehicle with ID 7 is 52.1 meters away at (-39.1, -34.4). A pedestrian with ID 8 is 54.3 meters away at (-54.3, -0.8). A vehicle with ID 18 is 54.4 meters away at (54.4, -2.3). A pedestrian with ID 1 is 73.8 meters away at (61.3, -41.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [1.0802573 0.9119632] m/s.The unknown object with ID 10 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 36 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.2612534  -0.16531047] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.0973603 -0.7612482] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.7506235  1.2137458] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.9) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 68 is 6.9 meters away at (-1.6, 6.7). A vehicle with ID 65 is 12.7 meters away at (9.4, -8.5). A vehicle with ID 56 is 14.5 meters away at (13.1, -6.3). A pedestrian with ID 57 is 18.5 meters away at (17.7, -5.3). A vehicle with ID 64 is 19.1 meters away at (-15.7, 10.9). A pedestrian with ID 21 is 19.2 meters away at (-7.8, 17.6). A pedestrian with ID 22 is 19.9 meters away at (-7.4, 18.5). A vehicle with ID 60 is 20.1 meters away at (17.5, -10.0). A pedestrian with ID 58 is 20.3 meters away at (19.3, -6.1). A pedestrian with ID 59 is 21.3 meters away at (19.8, -7.9).

The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-4.0261593  3.4145823] m/s.The vehicle with ID 56 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 [ 0.9787362 -0.7576491] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-6.705196  4.196098] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.83922434  0.9346339 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.78429395  0.93053234] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.97893625 -0.7791764 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.974389  -0.8066211] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 68 is 5.0 meters away at (4.8, 1.4). A vehicle with ID 65 is 11.4 meters away at (8.5, -7.6). A pedestrian with ID 21 is 14.4 meters away at (-2.2, 14.2). A pedestrian with ID 22 is 15.2 meters away at (-1.8, 15.1). A vehicle with ID 56 is 22.8 meters away at (19.6, -11.6). A vehicle with ID 64 is 27.1 meters away at (-23.7, 13.1). A vehicle with ID 24 is 28.6 meters away at (21.6, -18.6). A vehicle with ID 60 is 28.6 meters away at (24.1, -15.4). A pedestrian with ID 57 is 29.1 meters away at (26.3, -12.4). A pedestrian with ID 67 is 30.3 meters away at (11.7, -28.0).

The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-3.5151825  2.9727452] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.20282249  1.1063112 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.26568708  1.0571855 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-8.18508    3.4428291] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.0106816  3.2437344] m/s.The vehicle with ID 60 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 [ 1.0699316  -0.88616395] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.8857481  -0.70910805] 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, 3.4) 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 65 is 11.0 meters away at (8.0, -7.6). A pedestrian with ID 21 is 11.3 meters away at (3.7, 10.6). A pedestrian with ID 22 is 11.9 meters away at (4.2, 11.1). A vehicle with ID 68 is 11.9 meters away at (11.1, -4.4). A vehicle with ID 24 is 25.5 meters away at (19.1, -17.0). A vehicle with ID 13 is 28.0 meters away at (-2.9, 27.8). A vehicle with ID 56 is 31.2 meters away at (25.9, -17.4). A vehicle with ID 83 is 32.6 meters away at (-28.4, 16.0). A vehicle with ID 45 is 34.2 meters away at (13.2, 31.6). A vehicle with ID 8 is 34.5 meters away at (2.8, 34.4).

The vehicle with ID 65 is traveling at a (x, y) velocity of [-3.4963574  3.0208037] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00187099 1.0418233 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.04324964  0.99038404] m/s.The vehicle with ID 68 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 [-4.609166   3.8091595] m/s.The vehicle with ID 13 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 83 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 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 (-0.9, 4.2) m/s. Its current heading (yaw) is 1.78 radians with an angular velocity of 1.78 rad/s.

The most relevant actors are: A vehicle with ID 65 is 9.4 meters away at (3.7, -8.6). A pedestrian with ID 21 is 9.7 meters away at (8.2, 5.3). A pedestrian with ID 22 is 10.6 meters away at (9.2, 5.4). A vehicle with ID 68 is 19.4 meters away at (15.1, -12.1). A vehicle with ID 13 is 20.1 meters away at (1.0, 20.1). A vehicle with ID 24 is 22.8 meters away at (14.5, -17.6). A vehicle with ID 83 is 25.8 meters away at (-24.4, 8.3). A vehicle with ID 8 is 27.5 meters away at (6.7, 26.7). A vehicle with ID 45 is 29.4 meters away at (17.2, 23.9). A vehicle with ID 86 is 32.9 meters away at (-31.1, 10.7).

The vehicle with ID 65 is traveling at a (x, y) velocity of [-5.267643   3.4773111] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.35288355 1.1706806 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.44980553 1.0455287 ] m/s.The vehicle with ID 68 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 24 is traveling at a (x, y) velocity of [-4.240282  3.501935] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -0.6) m/s. Its current heading (yaw) is -0.15 radians with an angular velocity of -0.15 rad/s.

The most relevant actors are: A vehicle with ID 23 is 4.3 meters away at (2.8, -3.3). A vehicle with ID 59 is 8.5 meters away at (7.3, 4.4). A vehicle with ID 61 is 14.0 meters away at (-9.6, 10.1). A vehicle with ID 58 is 14.3 meters away at (14.0, 2.6). A unknown object with ID 65 is 23.8 meters away at (10.0, -21.6). A vehicle with ID 57 is 25.0 meters away at (24.9, -0.9). A unknown object with ID 66 is 26.1 meters away at (9.0, -24.5). A vehicle with ID 60 is 26.4 meters away at (-23.9, 11.2). A vehicle with ID 63 is 26.7 meters away at (-22.8, 14.0). A vehicle with ID 62 is 26.7 meters away at (-26.1, 5.8).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [-8.920832   2.6732378] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -1.6) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A vehicle with ID 23 is 6.2 meters away at (-6.0, -1.4). A vehicle with ID 59 is 6.6 meters away at (-1.6, 6.4). A vehicle with ID 58 is 6.9 meters away at (5.1, 4.6). A vehicle with ID 57 is 16.0 meters away at (16.0, 1.1). A unknown object with ID 65 is 19.7 meters away at (1.1, -19.6). A pedestrian with ID 67 is 20.1 meters away at (15.7, -12.5). A unknown object with ID 54 is 20.2 meters away at (1.5, -20.1). A vehicle with ID 56 is 21.3 meters away at (21.3, -0.4). A vehicle with ID 61 is 22.2 meters away at (-18.6, 12.1). A unknown object with ID 66 is 22.6 meters away at (0.2, -22.6).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.0756108   0.28575402] m/s.The unknown object 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -1.9) m/s. Its current heading (yaw) is -0.37 radians with an angular velocity of -0.37 rad/s.

The most relevant actors are: A vehicle with ID 57 is 7.2 meters away at (5.8, 4.3). A pedestrian with ID 67 is 9.2 meters away at (3.3, -8.6). A vehicle with ID 58 is 9.3 meters away at (-5.1, 7.8). A vehicle with ID 56 is 11.3 meters away at (11.0, 2.9). A vehicle with ID 59 is 15.3 meters away at (-11.9, 9.6). A vehicle with ID 23 is 16.5 meters away at (-16.3, 1.9). A vehicle with ID 55 is 25.9 meters away at (25.8, -1.7). A vehicle with ID 15 is 31.6 meters away at (17.8, -26.1). A vehicle with ID 61 is 32.8 meters away at (-28.9, 15.4). A vehicle with ID 14 is 34.7 meters away at (21.7, -27.0).

The vehicle with ID 57 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 [-1.056439    0.34894237] m/s.The vehicle with ID 58 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 59 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 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 [0. 0.] m/s.The vehicle with ID 61 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -1.7) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 56 is 6.3 meters away at (1.1, 6.2). A vehicle with ID 57 is 8.6 meters away at (-4.0, 7.6). A pedestrian with ID 67 is 9.8 meters away at (-8.8, -4.4). A vehicle with ID 55 is 16.0 meters away at (15.9, 1.5). A vehicle with ID 58 is 18.6 meters away at (-14.9, 11.1). A vehicle with ID 15 is 24.1 meters away at (7.7, -22.8). A vehicle with ID 59 is 25.3 meters away at (-21.7, 13.0). A vehicle with ID 14 is 26.3 meters away at (11.8, -23.5). A vehicle with ID 23 is 26.7 meters away at (-26.2, 5.3). A vehicle with ID 11 is 35.5 meters away at (17.6, -30.9).

The vehicle with ID 56 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 pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.0873672  0.3624338] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.4) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A vehicle with ID 11 is 27.0 meters away at (20.9, 17.2).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.466374 -6.527531] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.4) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A vehicle with ID 11 is 26.9 meters away at (20.8, 17.1). A vehicle with ID 17 is 72.7 meters away at (56.0, 46.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.21207   -6.2447314] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-9.768184 -7.689601] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -6.4) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A unknown object with ID 34 is 13.2 meters away at (-11.3, -6.8). A unknown object with ID 20 is 16.2 meters away at (-13.6, -8.7). A unknown object with ID 35 is 19.3 meters away at (-16.1, -10.7). A unknown object with ID 18 is 22.4 meters away at (-18.5, -12.6). A vehicle with ID 11 is 27.2 meters away at (21.0, 17.3). A vehicle with ID 28 is 66.5 meters away at (-49.1, -44.8).

The unknown object with ID 34 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [-8.093453  -6.2011204] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [11.766001 10.181094] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, -6.2) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A vehicle with ID 28 is 13.9 meters away at (-8.0, -11.4). A vehicle with ID 11 is 28.3 meters away at (21.9, 17.9). A vehicle with ID 23 is 43.4 meters away at (-31.1, -30.2). A vehicle with ID 25 is 69.8 meters away at (-51.2, -47.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [12.998919 11.010108] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.7425237 -5.8829265] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [11.211011   9.8807335] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [8.6387825 7.8604965] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A cyclist with ID 49 is 7.3 meters away at (-5.4, 4.9). A vehicle with ID 56 is 14.3 meters away at (3.9, 13.8). A vehicle with ID 54 is 15.7 meters away at (-14.6, 5.9). A vehicle with ID 55 is 20.4 meters away at (-17.2, 10.9). A pedestrian with ID 53 is 23.8 meters away at (15.2, 18.3). A vehicle with ID 28 is 25.9 meters away at (-24.2, 9.2). A unknown object with ID 29 is 33.8 meters away at (31.9, 11.3). A pedestrian with ID 60 is 41.8 meters away at (-26.4, 32.4). A pedestrian with ID 66 is 43.3 meters away at (-29.3, 31.8). A pedestrian with ID 65 is 43.8 meters away at (-27.3, 34.2).

The cyclist with ID 49 is traveling at a (x, y) velocity of [-9.565413  3.565103] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 7.3661213 -3.3317368] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-0.9491699  0.3678569] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-1.0372838   0.44515294] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-2.8788064  0.8498158] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.9981666  0.4012822] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1285567   0.43946373] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.6034882  0.7202648] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-1.3833293   0.64279234] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 1.3) m/s. Its current heading (yaw) is 2.72 radians with an angular velocity of 2.72 rad/s.

The most relevant actors are: A pedestrian with ID 36 is 6.5 meters away at (-2.3, -6.1). A vehicle with ID 54 is 13.9 meters away at (-12.9, 5.2). A vehicle with ID 55 is 17.9 meters away at (-15.0, 9.9). A cyclist with ID 49 is 22.3 meters away at (-20.0, 9.8). A vehicle with ID 56 is 27.1 meters away at (26.8, 3.7). A vehicle with ID 28 is 27.2 meters away at (-26.8, 4.4). A pedestrian with ID 45 is 32.0 meters away at (22.8, 22.5). A pedestrian with ID 60 is 37.1 meters away at (-21.3, 30.4). A vehicle with ID 69 is 38.2 meters away at (-29.4, 24.5). A pedestrian with ID 66 is 39.4 meters away at (-25.2, 30.4).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.1861763  0.18301123] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-4.603581   1.9398502] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-3.565953   1.4578066] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-11.588041    4.4519243] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.613317  -4.0394573] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.90663   -2.9975183] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.2689704  -0.00423782] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9776767  0.5876833] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.224457  -2.6136804] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.449541    0.85612357] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 1.9) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A pedestrian with ID 36 is 11.0 meters away at (7.2, -8.4). A vehicle with ID 69 is 17.0 meters away at (-7.5, 15.3). A vehicle with ID 54 is 20.2 meters away at (-18.7, 7.6). A vehicle with ID 55 is 20.3 meters away at (-17.3, 10.7). A cyclist with ID 32 is 22.3 meters away at (-12.7, 18.3). A vehicle with ID 70 is 28.7 meters away at (-17.0, 23.1). A vehicle with ID 28 is 29.6 meters away at (-28.2, -8.9). A pedestrian with ID 60 is 32.6 meters away at (-15.9, 28.5). A vehicle with ID 37 is 34.6 meters away at (33.0, -10.3). A pedestrian with ID 66 is 35.6 meters away at (-20.7, 28.9).

The pedestrian with ID 36 is traveling at a (x, y) velocity of [1.1114885  0.39675358] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 8.273239  -3.4024065] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.152836   3.6501558] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.963759  2.570017] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [ 8.0224085 -3.0303278] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 5.3691444 -2.140763 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-3.6378057 -6.5382795] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0404179  0.6613679] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-16.73845    6.957404] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.3728997   0.80278146] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 0.8) m/s. Its current heading (yaw) is 2.97 radians with an angular velocity of 2.97 rad/s.

The most relevant actors are: A vehicle with ID 37 is 10.4 meters away at (10.4, -0.1). A vehicle with ID 70 is 15.6 meters away at (3.5, 15.2). A cyclist with ID 32 is 17.8 meters away at (15.8, 8.2). A vehicle with ID 69 is 20.3 meters away at (19.8, 4.5). A pedestrian with ID 36 is 20.9 meters away at (17.9, -10.9). A vehicle with ID 55 is 26.1 meters away at (-22.1, 13.8). A cyclist with ID 38 is 26.2 meters away at (18.8, 18.2). A pedestrian with ID 26 is 26.2 meters away at (19.1, 18.0). A pedestrian with ID 59 is 27.5 meters away at (-26.1, 8.7). A vehicle with ID 4 is 27.6 meters away at (-21.0, 17.9).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-14.635084    6.2390313] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 6.467444  -2.7716112] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [10.976684 -4.090808] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [10.048713 -4.313305] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.86097074 0.29459658] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-7.6454577  3.450769 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-3.175001   1.9458579] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-2.9313948  1.7523719] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.02719328 0.08501536] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 6.2) m/s. Its current heading (yaw) is 1.76 radians with an angular velocity of 1.76 rad/s.

The most relevant actors are: A pedestrian with ID 29 is 6.1 meters away at (4.3, 4.4). A vehicle with ID 21 is 8.3 meters away at (8.2, 0.7). A vehicle with ID 22 is 8.5 meters away at (8.3, -1.8). A vehicle with ID 20 is 9.1 meters away at (-5.8, 7.0). A unknown object with ID 34 is 10.8 meters away at (-4.3, 9.9). A unknown object with ID 35 is 11.4 meters away at (-4.5, 10.5). A unknown object with ID 37 is 11.9 meters away at (-4.6, 10.9). A pedestrian with ID 25 is 14.5 meters away at (12.5, -7.4). A pedestrian with ID 26 is 17.8 meters away at (13.4, -11.7). A vehicle with ID 27 is 19.7 meters away at (15.5, -12.2).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.14515667 -1.0786338 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.30656922 -0.33223465] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0908163 -1.2398372] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.7) 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 unknown object with ID 37 is 2.3 meters away at (-2.2, -0.6). A unknown object with ID 35 is 2.3 meters away at (-2.0, -1.2). A unknown object with ID 34 is 2.5 meters away at (-1.7, -1.8). A vehicle with ID 20 is 5.8 meters away at (-3.3, -4.8). A unknown object with ID 16 is 10.5 meters away at (-8.5, 6.1). A pedestrian with ID 29 is 12.0 meters away at (7.2, -9.6). A unknown object with ID 24 is 14.7 meters away at (13.7, 5.3). A unknown object with ID 23 is 15.4 meters away at (13.5, 7.4). A vehicle with ID 21 is 15.4 meters away at (10.7, -11.0). A vehicle with ID 22 is 17.4 meters away at (10.8, -13.7).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.11352061 -1.1021662 ] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.3) 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 unknown object with ID 16 is 7.7 meters away at (-6.0, -4.8). A unknown object with ID 37 is 11.6 meters away at (0.4, -11.6). A unknown object with ID 14 is 12.1 meters away at (0.6, -12.1). A unknown object with ID 35 is 12.4 meters away at (0.7, -12.4). A unknown object with ID 34 is 12.8 meters away at (0.8, -12.8). A vehicle with ID 20 is 15.8 meters away at (-0.7, -15.8). A unknown object with ID 23 is 16.4 meters away at (16.0, -3.6). A unknown object with ID 24 is 17.3 meters away at (16.3, -5.8). A unknown object with ID 7 is 20.3 meters away at (20.1, -3.0). A pedestrian with ID 29 is 25.1 meters away at (10.2, -22.9).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.29303885 -1.0536866 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 5.5) m/s. Its current heading (yaw) is 1.82 radians with an angular velocity of 1.82 rad/s.

The most relevant actors are: A unknown object with ID 16 is 16.0 meters away at (-3.3, -15.7). A unknown object with ID 37 is 22.7 meters away at (3.1, -22.5). A unknown object with ID 14 is 23.2 meters away at (3.4, -23.0). A unknown object with ID 35 is 23.6 meters away at (3.5, -23.3). A unknown object with ID 23 is 23.7 meters away at (18.7, -14.5). A unknown object with ID 34 is 23.9 meters away at (3.6, -23.7). A unknown object with ID 24 is 25.3 meters away at (19.0, -16.7). A vehicle with ID 20 is 26.6 meters away at (2.0, -26.6). A unknown object with ID 7 is 26.7 meters away at (22.8, -13.9). A vehicle with ID 21 is 36.6 meters away at (16.0, -32.9).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.97 radians with an angular velocity of -1.97 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 7.0 meters away at (2.5, -6.5). A pedestrian with ID 7 is 7.5 meters away at (2.2, -7.2). A pedestrian with ID 5 is 12.0 meters away at (8.5, 8.5). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.8 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.9, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.2, 1.9). A pedestrian with ID 16 is 16.5 meters away at (-11.1, 12.1). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.6).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.1085904  -0.07314872] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0983821  -0.10128146] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.34622175 -0.74698836] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 [ 1.089646   -0.02347579] 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) 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 pedestrian with ID 6 is 8.2 meters away at (4.8, -6.6). A pedestrian with ID 7 is 8.4 meters away at (4.4, -7.2). A unknown object with ID 10 is 15.6 meters away at (-14.8, 4.9). A unknown object with ID 11 is 15.8 meters away at (-14.1, 7.0). A unknown object with ID 12 is 16.2 meters away at (-15.8, 3.4). A unknown object with ID 13 is 16.3 meters away at (-16.2, 1.9). A pedestrian with ID 16 is 16.5 meters away at (-9.6, 13.4). A unknown object with ID 15 is 17.2 meters away at (-14.6, 9.2). A unknown object with ID 18 is 18.3 meters away at (-16.6, 7.6). A unknown object with ID 19 is 18.4 meters away at (-16.2, 8.7).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 1.1394686 -0.1321958] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.1766391  -0.10198747] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 [0.4725872  0.91347027] 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 18 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.

Instruction: Continue straight.