The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 2.7) m/s. Its current heading (yaw) is 2.18 radians with an angular velocity of 2.18 rad/s.

The most relevant actors are: A vehicle with ID 4 is 4.0 meters away at (3.6, 1.7). A vehicle with ID 52 is 4.4 meters away at (-4.3, 1.2). A vehicle with ID 17 is 9.8 meters away at (-6.7, -7.2). A vehicle with ID 40 is 12.6 meters away at (10.8, -6.4). A vehicle with ID 41 is 13.4 meters away at (-0.8, -13.4). A pedestrian with ID 37 is 13.5 meters away at (10.9, 8.0). A pedestrian with ID 35 is 13.9 meters away at (12.3, 6.4). A pedestrian with ID 38 is 14.3 meters away at (11.3, 8.8). A pedestrian with ID 43 is 15.2 meters away at (12.5, 8.6). A pedestrian with ID 39 is 16.5 meters away at (14.6, 7.7).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.8148986  3.557416 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.2066867 -4.8595195] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.0651987 -8.878457 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.73714435  1.7886033 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 0.3319852 -6.4452314] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 0.66539747 -0.612097  ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02056759 -0.0195149 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.6437868  -0.58419895] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.6063671 -0.6345502] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [1.0794237  0.04498592] 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, 4.2) m/s. Its current heading (yaw) is 1.98 radians with an angular velocity of 1.98 rad/s.

The most relevant actors are: A vehicle with ID 59 is 4.2 meters away at (-4.1, -0.9). A vehicle with ID 4 is 5.0 meters away at (4.1, 2.9). A pedestrian with ID 37 is 15.2 meters away at (15.2, 0.3). A pedestrian with ID 38 is 15.9 meters away at (15.9, 1.0). A pedestrian with ID 11 is 16.0 meters away at (16.0, 0.3). A pedestrian with ID 35 is 16.6 meters away at (16.6, -0.8). A pedestrian with ID 12 is 17.1 meters away at (17.1, 0.2). A cyclist with ID 30 is 18.1 meters away at (11.4, 14.0). A vehicle with ID 40 is 18.1 meters away at (15.7, -9.1). A vehicle with ID 67 is 18.7 meters away at (-13.9, 12.5).

The vehicle with ID 59 is traveling at a (x, y) velocity of [ 2.5297275 -5.6889377] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.7645139  4.763724 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.01754805 -0.02373265] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.19895525 -0.03516721] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.06448606 -0.04097527] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00615964  0.02446962] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.01121798 -0.18112406] m/s.The cyclist with ID 30 is traveling at a (x, y) velocity of [-0.0110166   0.04137193] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [2.0157924 2.253149 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.6239103 -1.4774815] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 18 is 4.4 meters away at (4.4, 0.2). A unknown object with ID 17 is 5.1 meters away at (-2.2, -4.6). A unknown object with ID 15 is 5.8 meters away at (-3.4, 4.7). A pedestrian with ID 35 is 6.4 meters away at (1.1, 6.3). A vehicle with ID 24 is 7.2 meters away at (6.3, -3.5). A pedestrian with ID 25 is 7.4 meters away at (5.3, 5.1). A vehicle with ID 28 is 8.1 meters away at (-6.8, 4.5). A unknown object with ID 19 is 10.0 meters away at (-10.0, -0.1). A pedestrian with ID 33 is 10.2 meters away at (-7.4, -7.0). A unknown object with ID 21 is 10.7 meters away at (5.6, -9.2).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.3254336 -0.8155353] m/s.The vehicle with ID 24 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 [-1.110573   0.6851608] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.4001067   0.78911924] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.3) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 15 is 5.0 meters away at (-2.6, 4.3). A unknown object with ID 18 is 5.2 meters away at (5.2, -0.3). A unknown object with ID 17 is 5.3 meters away at (-1.4, -5.1). A pedestrian with ID 35 is 6.3 meters away at (4.6, 4.3). A pedestrian with ID 25 is 7.0 meters away at (3.6, 6.0). A vehicle with ID 28 is 7.3 meters away at (-6.1, 4.1). A vehicle with ID 24 is 8.1 meters away at (7.0, -3.9). A unknown object with ID 19 is 9.2 meters away at (-9.2, -0.6). A pedestrian with ID 33 is 11.2 meters away at (-9.7, -5.7). A pedestrian with ID 20 is 11.7 meters away at (11.7, -0.3).

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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2579807 -0.6620573] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2247013  0.7464533] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.560933   0.7012835] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.0134082  -0.00399662] m/s.

Instruction: Continue straight.


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 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 15 is 4.4 meters away at (-2.0, 3.9). A unknown object with ID 17 is 5.5 meters away at (-0.8, -5.4). A unknown object with ID 18 is 5.9 meters away at (5.8, -0.6). A vehicle with ID 28 is 6.6 meters away at (-5.5, 3.7). A pedestrian with ID 25 is 7.2 meters away at (1.7, 7.0). A pedestrian with ID 35 is 8.4 meters away at (8.0, 2.5). A unknown object with ID 19 is 8.6 meters away at (-8.6, -0.9). A vehicle with ID 24 is 8.8 meters away at (7.7, -4.3). A unknown object with ID 8 is 12.2 meters away at (7.0, -10.0). A pedestrian with ID 20 is 12.3 meters away at (12.3, -0.6).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2800688  0.7280999] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.2528398 -0.6506854] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00984783  0.02104557] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 15 is 4.3 meters away at (-1.9, 3.9). A unknown object with ID 17 is 5.5 meters away at (-0.7, -5.4). A unknown object with ID 18 is 5.9 meters away at (5.9, -0.6). A vehicle with ID 28 is 7.0 meters away at (-5.8, 3.9). A pedestrian with ID 25 is 8.4 meters away at (-0.8, 8.3). A unknown object with ID 19 is 8.6 meters away at (-8.5, -0.9). A vehicle with ID 24 is 8.8 meters away at (7.7, -4.3). A pedestrian with ID 35 is 10.9 meters away at (10.9, 1.0). A unknown object with ID 8 is 12.3 meters away at (7.1, -10.1). A pedestrian with ID 20 is 12.4 meters away at (12.4, -0.6).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [-0.57768846  0.3628191 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-1.2881967   0.70827734] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 1.3875682  -0.66765004] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00160737 0.03881528] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.3, 6.6) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 5 is 5.4 meters away at (-5.3, 1.2). A vehicle with ID 50 is 14.3 meters away at (3.9, -13.8). A pedestrian with ID 34 is 15.6 meters away at (-14.3, 6.1). A vehicle with ID 1 is 17.7 meters away at (-15.3, -8.8). A unknown object with ID 30 is 27.8 meters away at (-14.5, 23.7). A vehicle with ID 36 is 30.4 meters away at (21.3, 21.6). A pedestrian with ID 29 is 31.3 meters away at (-16.4, 26.7). A vehicle with ID 35 is 31.3 meters away at (-21.7, -22.6). A unknown object with ID 21 is 31.4 meters away at (-17.1, 26.3). A unknown object with ID 26 is 33.3 meters away at (-18.3, 27.8).

The vehicle with ID 5 is traveling at a (x, y) velocity of [12.375033   7.9035654] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-12.605191  -8.176027] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.0395294  0.02856574] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [11.056391   7.1927724] 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 [12.983877  8.145057] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01507926 -0.00158495] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-10.651675  -6.949056] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 (10.2, 6.6) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 5 is 3.9 meters away at (-1.6, 3.6). A vehicle with ID 1 is 15.9 meters away at (-14.2, -7.2). A cyclist with ID 28 is 16.5 meters away at (4.0, -16.1). A vehicle with ID 19 is 17.4 meters away at (-4.1, -16.9). A pedestrian with ID 20 is 21.6 meters away at (13.6, -16.8). A vehicle with ID 36 is 35.2 meters away at (25.5, 24.2). A unknown object with ID 30 is 36.5 meters away at (-34.8, 10.9). A pedestrian with ID 29 is 39.3 meters away at (-36.7, 14.0). A unknown object with ID 15 is 39.3 meters away at (-37.5, 11.8). A unknown object with ID 21 is 39.8 meters away at (-37.5, 13.4).

The vehicle with ID 5 is traveling at a (x, y) velocity of [11.976469   7.5770154] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [10.804532  7.684299] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-5.130922  -3.2148283] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-9.998384 -6.313838] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.00032621 -0.00069964] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [11.775513   7.6174326] m/s.The unknown object with ID 30 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 [-0.07011397 -0.0438824 ] 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 21 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 (10.3, 6.5) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 5 is 6.0 meters away at (2.3, 5.6). A vehicle with ID 1 is 13.8 meters away at (-13.0, -4.8). A pedestrian with ID 20 is 30.4 meters away at (-7.0, -29.6). A vehicle with ID 36 is 37.8 meters away at (27.5, 26.0). A cyclist with ID 28 is 44.2 meters away at (-26.5, -35.3). A cyclist with ID 12 is 48.1 meters away at (39.3, 27.8). A vehicle with ID 19 is 61.5 meters away at (-44.2, -42.7). A vehicle with ID 53 is 71.5 meters away at (54.7, 46.1). A vehicle with ID 22 is 73.8 meters away at (-65.9, -33.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [12.2713995  7.5250454] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [10.903106   7.6659775] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.34303164  0.45045716] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [10.588316   7.3932977] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-4.947424 -3.243458] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [10.794634   7.0623755] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-9.541888  -6.3632836] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [8.182732 6.229349] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [5.2935967 3.1838436] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.0, 6.1) m/s. Its current heading (yaw) is 0.55 radians with an angular velocity of 0.55 rad/s.

The most relevant actors are: A vehicle with ID 5 is 10.6 meters away at (6.8, 8.1). A vehicle with ID 1 is 11.7 meters away at (-11.3, -2.8). A vehicle with ID 14 is 23.1 meters away at (23.1, 1.1). A vehicle with ID 36 is 38.4 meters away at (26.7, 27.5). A pedestrian with ID 20 is 49.5 meters away at (-27.5, -41.2). A cyclist with ID 12 is 49.9 meters away at (40.4, 29.3). A vehicle with ID 53 is 65.7 meters away at (47.6, 45.3). A cyclist with ID 28 is 78.5 meters away at (-56.5, -54.5).

The vehicle with ID 5 is traveling at a (x, y) velocity of [12.444448   7.7255597] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [11.421924  7.309675] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-13.363235  -8.352817] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [8.958782  6.6553774] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01028276  0.06966417] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [10.7932825  6.9965534] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [5.1710515 6.2918973] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-4.37958  -3.516717] 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, 2.9) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A cyclist with ID 11 is 24.8 meters away at (19.4, -15.4). A vehicle with ID 10 is 44.1 meters away at (-44.1, 1.3).

The cyclist with ID 11 is traveling at a (x, y) velocity of [-5.948784  4.40099 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.8475783 4.0735264] 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, 2.2) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A cyclist with ID 11 is 18.1 meters away at (14.1, -11.3). A vehicle with ID 10 is 32.2 meters away at (-32.0, 3.6). A unknown object with ID 12 is 71.1 meters away at (-58.8, 39.9).

The cyclist with ID 11 is traveling at a (x, y) velocity of [-6.0891757  4.67048  ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [1.9855919 2.6715806] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 0.5) m/s. Its current heading (yaw) is 3.03 radians with an angular velocity of 3.03 rad/s.

The most relevant actors are: A cyclist with ID 11 is 11.3 meters away at (10.2, -4.9). A vehicle with ID 10 is 22.1 meters away at (-21.7, 4.2).

The cyclist with ID 11 is traveling at a (x, y) velocity of [-5.32905    4.1039047] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0.50042224 0.63483316] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -1.9) m/s. Its current heading (yaw) is -2.66 radians with an angular velocity of -2.66 rad/s.

The most relevant actors are: A cyclist with ID 11 is 8.4 meters away at (8.3, 1.3). A vehicle with ID 10 is 13.9 meters away at (-12.4, 6.3). A unknown object with ID 7 is 54.0 meters away at (-32.0, -43.4). A unknown object with ID 8 is 55.7 meters away at (-33.6, -44.5).

The cyclist with ID 11 is traveling at a (x, y) velocity of [-5.331951   0.6024895] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 1.1) m/s. Its current heading (yaw) is 1.29 radians with an angular velocity of 1.29 rad/s.

The most relevant actors are: A vehicle with ID 10 is 9.4 meters away at (2.9, 9.0). A vehicle with ID 16 is 17.9 meters away at (-14.1, -11.0). A vehicle with ID 17 is 19.3 meters away at (-12.1, 15.1). A vehicle with ID 3 is 19.5 meters away at (6.4, 18.4). A vehicle with ID 18 is 21.8 meters away at (-14.4, 16.3). A vehicle with ID 19 is 24.0 meters away at (-16.4, -17.5). A vehicle with ID 20 is 24.2 meters away at (-16.9, 17.3). A vehicle with ID 11 is 26.5 meters away at (-19.5, 17.9). A vehicle with ID 12 is 29.0 meters away at (-22.0, 18.8). A vehicle with ID 24 is 34.6 meters away at (-11.2, -32.8).

The vehicle with ID 10 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 17 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A vehicle with ID 10 is 8.9 meters away at (2.7, 8.4). A vehicle with ID 16 is 18.3 meters away at (-14.3, -11.5). A vehicle with ID 17 is 19.1 meters away at (-12.3, 14.6). A vehicle with ID 18 is 21.5 meters away at (-14.6, 15.8). A vehicle with ID 20 is 23.9 meters away at (-17.1, 16.8). A vehicle with ID 19 is 24.5 meters away at (-16.5, -18.0). A vehicle with ID 11 is 26.2 meters away at (-19.7, 17.3). A vehicle with ID 12 is 28.7 meters away at (-22.2, 18.3). A unknown object with ID 8 is 34.1 meters away at (-2.9, -33.9). A vehicle with ID 24 is 35.2 meters away at (-11.4, -33.3).

The vehicle with ID 10 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A vehicle with ID 10 is 8.8 meters away at (2.7, 8.4). A vehicle with ID 16 is 18.4 meters away at (-14.3, -11.5). A vehicle with ID 17 is 19.0 meters away at (-12.3, 14.5). A vehicle with ID 18 is 21.5 meters away at (-14.6, 15.8). A vehicle with ID 20 is 23.9 meters away at (-17.1, 16.7). A vehicle with ID 19 is 24.5 meters away at (-16.6, -18.1). A vehicle with ID 11 is 26.2 meters away at (-19.8, 17.2). A vehicle with ID 12 is 28.7 meters away at (-22.2, 18.2). A unknown object with ID 8 is 34.1 meters away at (-2.9, -34.0). A vehicle with ID 24 is 35.3 meters away at (-11.4, -33.4).

The vehicle with ID 10 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A vehicle with ID 10 is 8.8 meters away at (2.7, 8.4). A vehicle with ID 16 is 18.4 meters away at (-14.3, -11.5). A vehicle with ID 17 is 19.0 meters away at (-12.3, 14.5). A vehicle with ID 18 is 21.6 meters away at (-14.5, 15.9). A vehicle with ID 20 is 23.9 meters away at (-17.1, 16.7). A vehicle with ID 19 is 24.5 meters away at (-16.5, -18.1). A vehicle with ID 11 is 26.2 meters away at (-19.8, 17.2). A vehicle with ID 12 is 28.7 meters away at (-22.2, 18.2). A unknown object with ID 8 is 34.1 meters away at (-2.9, -34.0). A vehicle with ID 24 is 35.3 meters away at (-11.4, -33.4).

The vehicle with ID 10 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.2) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A unknown object with ID 27 is 32.7 meters away at (1.7, -32.7). A vehicle with ID 26 is 32.8 meters away at (11.2, -30.8). A unknown object with ID 25 is 33.5 meters away at (-2.0, 33.4). A vehicle with ID 28 is 33.6 meters away at (-3.3, -33.4). A unknown object with ID 21 is 37.4 meters away at (36.7, 7.2). A vehicle with ID 4 is 41.6 meters away at (40.7, 8.5). A vehicle with ID 23 is 42.3 meters away at (-41.6, 7.7). A vehicle with ID 30 is 63.5 meters away at (62.8, -9.7). A unknown object with ID 18 is 73.0 meters away at (-66.9, 29.1). A vehicle with ID 31 is 74.2 meters away at (72.5, -16.0).

The unknown object 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 unknown object with ID 25 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.8112037 -1.517494 ] m/s.The vehicle with ID 30 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -2.2) m/s. Its current heading (yaw) is -2.39 radians with an angular velocity of -2.39 rad/s.

The most relevant actors are: A vehicle with ID 28 is 29.5 meters away at (-0.4, -29.5). A vehicle with ID 26 is 30.3 meters away at (14.2, -26.8). A vehicle with ID 23 is 36.0 meters away at (-34.8, 9.1). A unknown object with ID 25 is 37.4 meters away at (0.5, 37.4). A vehicle with ID 30 is 65.9 meters away at (65.6, -5.3). A vehicle with ID 31 is 76.1 meters away at (75.2, -11.6).

The vehicle with ID 28 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 23 is traveling at a (x, y) velocity of [ 1.0179647 -0.6423391] m/s.The unknown object with ID 25 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 1.0) m/s. Its current heading (yaw) is 2.89 radians with an angular velocity of 2.89 rad/s.

The most relevant actors are: A vehicle with ID 28 is 28.4 meters away at (6.4, -27.7). A vehicle with ID 23 is 29.3 meters away at (-27.4, 10.3). A vehicle with ID 26 is 32.6 meters away at (21.0, -25.0). A unknown object with ID 25 is 39.8 meters away at (7.1, 39.2). A pedestrian with ID 17 is 40.6 meters away at (-38.2, 13.9). A pedestrian with ID 14 is 41.3 meters away at (-38.7, 14.3). A pedestrian with ID 1 is 42.2 meters away at (-40.7, 11.2). A unknown object with ID 16 is 43.0 meters away at (1.5, -43.0). A vehicle with ID 30 is 72.5 meters away at (72.4, -3.5).

The vehicle with ID 28 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 26 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 17 is traveling at a (x, y) velocity of [-0.00013362  0.0006282 ] m/s.The pedestrian with ID 14 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 [0.36701787 0.79205126] m/s.The unknown object with ID 16 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.1) m/s. Its current heading (yaw) is 2.60 radians with an angular velocity of 2.60 rad/s.

The most relevant actors are: A vehicle with ID 23 is 18.9 meters away at (-18.0, 5.7). A pedestrian with ID 17 is 30.2 meters away at (-28.6, 9.6). A pedestrian with ID 14 is 30.9 meters away at (-29.1, 10.4). A pedestrian with ID 1 is 31.9 meters away at (-30.8, 8.3). A vehicle with ID 28 is 36.0 meters away at (15.5, -32.5). A unknown object with ID 25 is 38.1 meters away at (16.7, 34.3). A vehicle with ID 26 is 42.5 meters away at (30.1, -29.9). A unknown object with ID 20 is 57.4 meters away at (57.0, 6.8). A vehicle with ID 19 is 60.1 meters away at (59.4, 9.4).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.11054026 0.17660733] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.1784656 0.4879482] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.21562126 0.66334254] m/s.The vehicle 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 4.1) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A unknown object with ID 22 is 11.0 meters away at (10.8, -1.7). A unknown object with ID 21 is 12.5 meters away at (12.1, -3.1). A vehicle with ID 20 is 30.1 meters away at (23.5, -18.8). A vehicle with ID 26 is 42.2 meters away at (-14.2, -39.7). A vehicle with ID 28 is 46.6 meters away at (-28.2, -37.1). A vehicle with ID 24 is 47.6 meters away at (42.0, -22.3). A vehicle with ID 25 is 52.8 meters away at (46.4, -25.1).

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 20 is traveling at a (x, y) velocity of [ 6.203607 -3.87169 ] 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 4.1) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A unknown object with ID 22 is 25.9 meters away at (23.8, -10.1). A unknown object with ID 21 is 27.6 meters away at (25.1, -11.4). A vehicle with ID 28 is 47.9 meters away at (-15.2, -45.4). A vehicle with ID 26 is 48.0 meters away at (-1.3, -48.0). A vehicle with ID 20 is 59.9 meters away at (48.9, -34.6). A vehicle with ID 6 is 61.5 meters away at (-18.1, -58.8). A vehicle with ID 12 is 66.9 meters away at (-18.2, -64.4). A unknown object with ID 15 is 68.5 meters away at (-63.4, 26.1).

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 28 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 20 is traveling at a (x, y) velocity of [ 6.058707  -3.9222496] m/s.The vehicle with ID 6 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.0) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 13 is 8.3 meters away at (-1.4, 8.2). A unknown object with ID 4 is 10.9 meters away at (-4.0, -10.2). A unknown object with ID 22 is 41.5 meters away at (37.3, -18.1). A vehicle with ID 28 is 53.5 meters away at (-1.9, -53.4). A unknown object with ID 15 is 53.7 meters away at (-50.4, 18.5). A vehicle with ID 26 is 57.4 meters away at (12.1, -56.1). A vehicle with ID 6 is 67.0 meters away at (-4.8, -66.9).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 26 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 3.7) m/s. Its current heading (yaw) is 2.62 radians with an angular velocity of 2.62 rad/s.

The most relevant actors are: A vehicle with ID 2 is 6.7 meters away at (2.1, 6.4). A unknown object with ID 13 is 11.9 meters away at (11.9, 0.4). A vehicle with ID 28 is 62.3 meters away at (11.6, -61.2). A vehicle with ID 26 is 68.9 meters away at (25.6, -64.0). A pedestrian with ID 3 is 72.5 meters away at (-72.3, -5.5). A vehicle with ID 6 is 75.1 meters away at (8.7, -74.6). A vehicle with ID 16 is 80.7 meters away at (8.2, -80.3).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.5369594  0.3377854] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.2) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 19 is 3.7 meters away at (-3.7, -0.2). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.3). A vehicle with ID 22 is 7.6 meters away at (-2.5, -7.1). A pedestrian with ID 21 is 8.1 meters away at (-7.4, -3.3). A vehicle with ID 27 is 15.5 meters away at (-5.9, -14.4). A vehicle with ID 38 is 27.0 meters away at (-9.3, -25.4). A vehicle with ID 41 is 29.2 meters away at (2.9, -29.1). A vehicle with ID 26 is 30.0 meters away at (-20.8, -21.6). A vehicle with ID 34 is 33.6 meters away at (-8.6, -32.5). A vehicle with ID 31 is 35.3 meters away at (23.8, 26.1).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.1897411  -0.47831202] m/s.The vehicle 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 [-1.8126295   0.66390246] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.6674532  1.6194952] m/s.The vehicle with ID 26 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 [ 8.214966  -2.7991407] m/s.The vehicle with ID 31 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 -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 19 is 3.6 meters away at (-3.6, -0.1). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.2). A vehicle with ID 22 is 7.3 meters away at (-2.5, -6.9). A pedestrian with ID 21 is 8.1 meters away at (-7.2, -3.7). A vehicle with ID 27 is 15.3 meters away at (-5.8, -14.2). A vehicle with ID 41 is 22.9 meters away at (-0.1, -22.8). A vehicle with ID 38 is 27.0 meters away at (-12.2, -24.1). A vehicle with ID 26 is 29.8 meters away at (-20.7, -21.4). A vehicle with ID 4 is 33.4 meters away at (-12.6, -30.9). A vehicle with ID 25 is 33.7 meters away at (9.9, -32.2).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.22830743 0.10753103] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.7515352  4.387663 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.7793278  0.2575675] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 8.211368  -2.7633405] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.94322366  0.17507325] 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 -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 19 is 3.6 meters away at (-3.6, -0.1). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.2). A pedestrian with ID 21 is 7.3 meters away at (-6.7, -2.9). A vehicle with ID 22 is 7.3 meters away at (-2.5, -6.9). A vehicle with ID 41 is 11.0 meters away at (0.6, -11.0). A vehicle with ID 27 is 15.3 meters away at (-5.8, -14.2). A vehicle with ID 38 is 27.1 meters away at (-12.7, -23.9). A vehicle with ID 16 is 29.6 meters away at (-20.2, -21.6). A vehicle with ID 26 is 29.8 meters away at (-20.7, -21.4). A vehicle with ID 25 is 33.2 meters away at (9.0, -31.9).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.23804905 0.5260272 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [1.5062287 7.5401573] m/s.The vehicle 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 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.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 19 is 3.6 meters away at (-3.6, -0.0). A pedestrian with ID 21 is 6.4 meters away at (-6.2, -1.7). A vehicle with ID 20 is 6.5 meters away at (6.4, -1.1). A vehicle with ID 22 is 7.4 meters away at (-2.5, -6.9). A vehicle with ID 41 is 8.3 meters away at (5.6, 6.2). A vehicle with ID 27 is 15.3 meters away at (-5.8, -14.1). A vehicle with ID 38 is 27.1 meters away at (-12.7, -23.9). A vehicle with ID 16 is 29.6 meters away at (-20.2, -21.6). A vehicle with ID 26 is 29.8 meters away at (-20.7, -21.4). A vehicle with ID 25 is 32.8 meters away at (8.4, -31.8).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.2741096  0.77350813] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [3.1770236 9.394772 ] m/s.The vehicle 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 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.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.4) m/s. Its current heading (yaw) is -2.21 radians with an angular velocity of -2.21 rad/s.

The most relevant actors are: A unknown object with ID 11 is 3.4 meters away at (2.9, -1.8). A vehicle with ID 13 is 5.6 meters away at (4.6, -3.3). A vehicle with ID 14 is 5.6 meters away at (-1.9, 5.3). A unknown object with ID 20 is 9.0 meters away at (7.9, 4.2). A pedestrian with ID 12 is 10.5 meters away at (-10.1, -3.1). A vehicle with ID 17 is 10.8 meters away at (8.7, -6.4). A unknown object with ID 18 is 13.6 meters away at (11.0, 8.1). A vehicle with ID 25 is 13.7 meters away at (4.0, 13.1). A vehicle with ID 28 is 14.6 meters away at (13.0, 6.6). A unknown object with ID 21 is 15.7 meters away at (15.7, 1.2).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.7947335  0.6681296] m/s.The vehicle with ID 17 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 25 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.7) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A unknown object with ID 11 is 5.5 meters away at (5.3, 1.4). A vehicle with ID 13 is 7.0 meters away at (7.0, -0.1). A vehicle with ID 14 is 8.5 meters away at (0.5, 8.5). A pedestrian with ID 12 is 9.5 meters away at (-9.4, 1.8). A vehicle with ID 17 is 11.6 meters away at (11.1, -3.3). A unknown object with ID 20 is 12.7 meters away at (10.4, 7.3). A vehicle with ID 25 is 17.5 meters away at (6.5, 16.2). A unknown object with ID 18 is 17.5 meters away at (13.4, 11.2). A vehicle with ID 28 is 18.2 meters away at (15.4, 9.8). A vehicle with ID 10 is 18.3 meters away at (-6.7, -17.0).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.8255815  0.7341981] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.4) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A unknown object with ID 11 is 9.8 meters away at (8.3, 5.2). A pedestrian with ID 12 is 10.3 meters away at (-7.3, 7.3). A vehicle with ID 13 is 10.6 meters away at (9.9, 3.7). A pedestrian with ID 1 is 11.1 meters away at (9.4, 5.8). A unknown object with ID 8 is 12.2 meters away at (1.0, -12.1). A vehicle with ID 14 is 12.8 meters away at (3.4, 12.3). A unknown object with ID 9 is 13.5 meters away at (13.0, -3.6). A vehicle with ID 10 is 13.7 meters away at (-3.7, -13.2). A vehicle with ID 17 is 14.1 meters away at (14.0, 0.6). A unknown object with ID 20 is 17.4 meters away at (13.3, 11.2).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.25929672  0.6816383 ] m/s.The vehicle with ID 13 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 [-0.00268415  0.00599751] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.8) m/s. Its current heading (yaw) is -2.24 radians with an angular velocity of -2.24 rad/s.

The most relevant actors are: A vehicle with ID 10 is 8.2 meters away at (0.2, -8.2). A unknown object with ID 8 is 8.6 meters away at (4.9, -7.2). A pedestrian with ID 12 is 12.9 meters away at (-3.4, 12.5). A unknown object with ID 11 is 15.8 meters away at (12.1, 10.2). A vehicle with ID 13 is 16.3 meters away at (13.8, 8.6). A unknown object with ID 9 is 17.0 meters away at (16.9, 1.4). A vehicle with ID 17 is 18.7 meters away at (17.9, 5.5). A vehicle with ID 14 is 18.7 meters away at (7.2, 17.3). A unknown object with ID 20 is 23.5 meters away at (17.1, 16.2). A vehicle with ID 25 is 28.3 meters away at (13.2, 25.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.04356785 -0.03640678] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 (-1.9, 1.3) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 3 is 3.8 meters away at (3.0, 2.4). A vehicle with ID 10 is 8.2 meters away at (7.0, -4.3). A vehicle with ID 7 is 10.2 meters away at (9.9, -2.4). A vehicle with ID 91 is 10.6 meters away at (10.5, 1.6). A vehicle with ID 19 is 11.0 meters away at (-7.0, 8.5). A vehicle with ID 12 is 12.4 meters away at (-10.4, 6.9). A unknown object with ID 71 is 14.7 meters away at (14.7, -0.4). A vehicle with ID 22 is 15.9 meters away at (13.1, -9.0). A vehicle with ID 101 is 17.5 meters away at (-16.8, -4.7). A vehicle with ID 21 is 19.3 meters away at (17.5, -8.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.2680237  1.4332917] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.82707447  0.54712975] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.5512376   0.36490256] m/s.The vehicle with ID 91 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 [-3.4681413  2.2290113] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.7726998  2.5102513] m/s.The unknown object with ID 71 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 101 is traveling at a (x, y) velocity of [ 3.747428  -2.4147782] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 2.4) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 3 is 3.5 meters away at (1.7, 3.1). A vehicle with ID 10 is 10.6 meters away at (8.9, -5.7). A vehicle with ID 7 is 12.7 meters away at (12.1, -3.9). A vehicle with ID 19 is 13.8 meters away at (-9.6, 9.9). A vehicle with ID 101 is 14.7 meters away at (-1.5, -14.6). A vehicle with ID 91 is 16.2 meters away at (16.1, -2.1). A vehicle with ID 12 is 17.5 meters away at (-14.7, 9.5). A vehicle with ID 107 is 17.7 meters away at (-17.1, -4.6). A pedestrian with ID 88 is 18.4 meters away at (-4.1, 18.0). A pedestrian with ID 89 is 18.6 meters away at (-3.1, 18.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.5640326  2.9787152] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.8010423  1.8333756] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-3.0980635  2.001141 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.42702    2.6932683] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [ 5.649275  -3.4827852] m/s.The vehicle with ID 91 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 [-5.90174    3.7687309] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 3.1542456 -2.171875 ] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.02397869  0.02058231] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.03822326 -0.01243507] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 3.3) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A vehicle with ID 3 is 3.6 meters away at (1.1, 3.4). A unknown object with ID 108 is 12.2 meters away at (-6.9, 10.1). A vehicle with ID 10 is 13.0 meters away at (11.0, -6.9). A pedestrian with ID 88 is 13.0 meters away at (4.6, 12.2). A vehicle with ID 19 is 13.3 meters away at (-9.4, 9.4). A pedestrian with ID 89 is 13.8 meters away at (5.7, 12.5). A vehicle with ID 7 is 13.8 meters away at (13.1, -4.5). A vehicle with ID 114 is 14.8 meters away at (-13.2, -6.7). A unknown object with ID 16 is 15.2 meters away at (-9.6, 11.8). A vehicle with ID 107 is 15.7 meters away at (-0.4, -15.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7919674  2.9741635] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.0355315  2.700242 ] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.03919298  0.00090436] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.3785715  2.7061543] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.00646259 -0.0359608 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-4.3656993  2.8353593] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [ 2.8270743 -1.9178315] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 4.642403  -3.1518402] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 3.2) m/s. Its current heading (yaw) is 2.60 radians with an angular velocity of 2.60 rad/s.

The most relevant actors are: A vehicle with ID 3 is 3.6 meters away at (2.8, 2.2). A unknown object with ID 108 is 5.2 meters away at (3.9, 3.4). A unknown object with ID 16 is 5.3 meters away at (1.2, 5.2). A unknown object with ID 82 is 6.5 meters away at (-1.0, 6.4). A unknown object with ID 14 is 9.2 meters away at (-3.8, 8.3). A unknown object with ID 80 is 10.9 meters away at (2.4, 10.7). A unknown object with ID 51 is 11.0 meters away at (3.1, 10.5). A vehicle with ID 19 is 11.1 meters away at (-7.3, 8.3). A vehicle with ID 116 is 12.5 meters away at (-7.9, -9.7). A vehicle with ID 10 is 14.9 meters away at (12.8, -7.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.345883   2.4374118] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-4.871386  3.093347] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [ 2.9822178 -2.204655 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.079747  3.154549] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 5.9) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A pedestrian with ID 51 is 18.5 meters away at (-6.5, -17.3). A vehicle with ID 25 is 42.1 meters away at (27.2, 32.1). A unknown object with ID 35 is 43.4 meters away at (21.3, 37.9). A unknown object with ID 52 is 44.5 meters away at (-18.2, -40.6). A pedestrian with ID 47 is 44.6 meters away at (-19.3, -40.2). A unknown object with ID 38 is 46.3 meters away at (23.2, 40.1). A unknown object with ID 54 is 46.6 meters away at (-16.5, -43.5). A vehicle with ID 53 is 47.1 meters away at (-27.8, -38.0). A vehicle with ID 55 is 54.7 meters away at (-34.4, -42.5). A vehicle with ID 57 is 63.0 meters away at (-44.7, -44.3).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.7423261  -0.01366459] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [8.193979 9.729463] 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.00743453 0.01853484] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A unknown object with ID 32 is 29.6 meters away at (-0.5, 29.6). A unknown object with ID 38 is 31.0 meters away at (12.8, 28.3). A pedestrian with ID 51 is 34.1 meters away at (-16.6, -29.7). A vehicle with ID 25 is 49.9 meters away at (32.3, 38.0). A unknown object with ID 43 is 54.4 meters away at (30.4, 45.2). A pedestrian with ID 47 is 60.4 meters away at (-30.0, -52.5). A unknown object with ID 54 is 62.1 meters away at (-27.2, -55.9). A vehicle with ID 53 is 63.3 meters away at (-38.4, -50.4). A vehicle with ID 55 is 71.0 meters away at (-45.0, -54.9). A vehicle with ID 57 is 79.2 meters away at (-55.2, -56.7).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00245028  0.00467186] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [6.9804516 8.078526 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01093711 -0.00500378] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 0.7515741  -0.08736579] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 6.4) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A unknown object with ID 32 is 20.2 meters away at (-11.3, 16.8). A unknown object with ID 40 is 34.8 meters away at (17.7, 30.0). A unknown object with ID 43 is 38.3 meters away at (20.0, 32.7). A unknown object with ID 49 is 39.6 meters away at (20.8, 33.7). A unknown object with ID 30 is 41.6 meters away at (21.9, 35.4). A unknown object with ID 39 is 43.0 meters away at (22.8, 36.5). A unknown object with ID 34 is 44.8 meters away at (23.9, 37.9). A unknown object with ID 7 is 47.8 meters away at (25.9, 40.1). A vehicle with ID 25 is 50.0 meters away at (32.8, 37.8). A pedestrian with ID 51 is 50.9 meters away at (-27.6, -42.8).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 25 is traveling at a (x, y) velocity of [3.8995912 4.350068 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.13262866 -0.05335656] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 5.9) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A unknown object with ID 43 is 22.3 meters away at (9.2, 20.3). A unknown object with ID 49 is 23.7 meters away at (10.0, 21.5). A unknown object with ID 30 is 26.0 meters away at (11.3, 23.4). A unknown object with ID 39 is 26.9 meters away at (11.9, 24.2). A unknown object with ID 13 is 28.6 meters away at (13.0, 25.5). A vehicle with ID 26 is 29.3 meters away at (15.9, 24.6). A unknown object with ID 34 is 29.4 meters away at (13.5, 26.2). A unknown object with ID 7 is 31.5 meters away at (14.9, 27.7). A unknown object with ID 6 is 33.2 meters away at (16.1, 29.1). A unknown object with ID 29 is 33.3 meters away at (-33.2, -2.5).

The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-5.060323  -6.0754724] 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A unknown object with ID 19 is 17.1 meters away at (-12.8, 11.3). A unknown object with ID 25 is 18.5 meters away at (-14.7, 11.3). A unknown object with ID 9 is 19.9 meters away at (-14.3, 13.7). A unknown object with ID 11 is 20.2 meters away at (-16.6, 11.6). A unknown object with ID 13 is 22.2 meters away at (-18.5, 12.2). A unknown object with ID 15 is 24.0 meters away at (-20.2, 13.1). A unknown object with ID 16 is 25.8 meters away at (-21.7, 13.9). A unknown object with ID 17 is 27.5 meters away at (-23.3, 14.6). A unknown object with ID 18 is 29.4 meters away at (-25.0, 15.5). A unknown object with ID 20 is 31.4 meters away at (-26.7, 16.4).

The unknown object with ID 19 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 9 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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.

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 -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A unknown object with ID 19 is 17.3 meters away at (-13.1, 11.3). A unknown object with ID 25 is 18.8 meters away at (-15.1, 11.2). A unknown object with ID 11 is 20.7 meters away at (-17.1, 11.6). A unknown object with ID 13 is 22.5 meters away at (-18.8, 12.2). A unknown object with ID 15 is 24.3 meters away at (-20.5, 13.0). A unknown object with ID 16 is 26.3 meters away at (-22.3, 14.0). A vehicle with ID 8 is 26.5 meters away at (-23.6, 12.1). A unknown object with ID 17 is 27.7 meters away at (-23.6, 14.7). A unknown object with ID 18 is 30.0 meters away at (-25.5, 15.7). A unknown object with ID 5 is 31.7 meters away at (-23.0, 21.9).

The unknown object with ID 19 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 6.296256 -2.725815] 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 8 is 13.9 meters away at (-11.6, 7.6). A unknown object with ID 19 is 17.3 meters away at (-13.2, 11.3). A vehicle with ID 2 is 17.9 meters away at (15.7, -8.5). A unknown object with ID 25 is 18.9 meters away at (-15.2, 11.2). A unknown object with ID 5 is 31.8 meters away at (-23.0, 21.9). A unknown object with ID 37 is 50.7 meters away at (-47.4, 18.0). A unknown object with ID 36 is 50.7 meters away at (-46.3, 20.9). A unknown object with ID 29 is 52.1 meters away at (-46.6, 23.1). A unknown object with ID 1 is 54.5 meters away at (-48.4, 25.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 5.1864657 -1.7783989] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0.15129173 8.564193  ] 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 5 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 36 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -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 5.8 meters away at (-3.2, 4.8). A unknown object with ID 19 is 17.2 meters away at (-13.0, 11.3). A unknown object with ID 25 is 18.8 meters away at (-15.1, 11.2). A vehicle with ID 2 is 19.1 meters away at (15.7, 10.8). A unknown object with ID 10 is 20.5 meters away at (-16.9, 11.6). A unknown object with ID 12 is 22.4 meters away at (-18.8, 12.2). A unknown object with ID 14 is 24.3 meters away at (-20.5, 13.1). A unknown object with ID 36 is 50.7 meters away at (-46.3, 20.8). A unknown object with ID 37 is 50.8 meters away at (-47.4, 18.0). A unknown object with ID 29 is 52.1 meters away at (-46.7, 23.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.6071594 -0.8316966] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.06546441 10.877349  ] 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 12 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 36 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 29 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, -1.6) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A unknown object with ID 89 is 8.9 meters away at (-1.3, 8.9). A unknown object with ID 100 is 12.1 meters away at (-12.0, -1.9). A unknown object with ID 81 is 12.9 meters away at (-12.5, -2.8). A unknown object with ID 95 is 16.2 meters away at (15.7, 4.1). A unknown object with ID 103 is 18.2 meters away at (5.8, -17.2). A unknown object with ID 94 is 19.0 meters away at (5.0, 18.3). A unknown object with ID 104 is 29.7 meters away at (12.3, -27.1). A unknown object with ID 105 is 31.9 meters away at (16.8, -27.2). A vehicle with ID 8 is 33.7 meters away at (-33.1, -6.4). A unknown object with ID 106 is 34.0 meters away at (20.5, -27.1).

The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 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 [ 4.1871653 -2.802866 ] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.19 radians with an angular velocity of -2.19 rad/s.

The most relevant actors are: A unknown object with ID 89 is 9.8 meters away at (-0.7, 9.8). A unknown object with ID 100 is 11.5 meters away at (-11.4, -1.0). A unknown object with ID 81 is 12.0 meters away at (-11.9, -1.9). A unknown object with ID 95 is 17.1 meters away at (16.3, 5.1). A unknown object with ID 103 is 17.5 meters away at (6.4, -16.3). A unknown object with ID 94 is 20.1 meters away at (5.6, 19.3). A vehicle with ID 8 is 27.7 meters away at (-26.0, -9.6). A unknown object with ID 104 is 29.1 meters away at (12.9, -26.1). A unknown object with ID 105 is 31.5 meters away at (17.4, -26.3). A unknown object with ID 106 is 33.6 meters away at (21.1, -26.2).

The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.3523896 -1.3693224] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -3.7) m/s. Its current heading (yaw) is -2.13 radians with an angular velocity of -2.13 rad/s.

The most relevant actors are: A unknown object with ID 81 is 9.8 meters away at (-9.6, 1.8). A unknown object with ID 89 is 13.6 meters away at (1.7, 13.5). A unknown object with ID 103 is 15.4 meters away at (8.7, -12.6). A unknown object with ID 95 is 20.7 meters away at (18.7, 8.7). A vehicle with ID 8 is 22.6 meters away at (-21.4, -7.5). A unknown object with ID 94 is 24.3 meters away at (8.0, 22.9). A unknown object with ID 104 is 27.2 meters away at (15.3, -22.5). A unknown object with ID 105 is 30.0 meters away at (19.8, -22.6). A pedestrian with ID 91 is 30.9 meters away at (-29.2, -10.1). A unknown object with ID 106 is 32.5 meters away at (23.4, -22.5).

The unknown object with ID 81 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 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 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 [ 0.5047491  -0.19290593] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.1216649  -0.74210215] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -6.9) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A unknown object with ID 81 is 13.2 meters away at (-2.8, 12.9). A vehicle with ID 8 is 14.5 meters away at (-14.1, 3.2). A unknown object with ID 103 is 15.6 meters away at (15.5, -1.7). A pedestrian with ID 91 is 19.9 meters away at (-19.9, -0.3). A unknown object with ID 104 is 24.9 meters away at (22.1, -11.4). A unknown object with ID 89 is 25.9 meters away at (8.5, 24.5). A vehicle with ID 64 is 25.9 meters away at (-21.5, -14.5). A unknown object with ID 105 is 29.0 meters away at (26.5, -11.6). A unknown object with ID 95 is 32.3 meters away at (25.5, 19.8). A unknown object with ID 106 is 32.3 meters away at (30.2, -11.5).

The unknown object with ID 81 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 [ 0.2629408  -0.28705853] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [ 1.0456244 -0.7631131] m/s.The unknown object with ID 104 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 vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.0) 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 6 is 14.3 meters away at (1.7, -14.2). A vehicle with ID 30 is 19.7 meters away at (-11.2, 16.2). A unknown object with ID 32 is 29.0 meters away at (-18.5, -22.4). A vehicle with ID 33 is 35.9 meters away at (-34.6, -9.5). A vehicle with ID 35 is 38.6 meters away at (-11.7, -36.7). A vehicle with ID 34 is 39.1 meters away at (-38.1, -8.9). A pedestrian with ID 9 is 43.5 meters away at (-42.3, -10.0). A pedestrian with ID 8 is 44.3 meters away at (-42.9, -11.0). A vehicle with ID 38 is 53.1 meters away at (-22.9, -48.0). A vehicle with ID 39 is 53.9 meters away at (-26.3, -47.0).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0.23539037 0.38679847] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.76236075 -0.7329895 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.73352367 -0.6315989 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.44976088 0.6612855 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.8) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 6 is 9.4 meters away at (-7.5, -5.6). A unknown object with ID 32 is 31.5 meters away at (-28.2, -14.0). A vehicle with ID 30 is 32.2 meters away at (-20.9, 24.5). A vehicle with ID 35 is 35.6 meters away at (-21.4, -28.5). A unknown object with ID 22 is 35.8 meters away at (-30.7, -18.4). A vehicle with ID 17 is 39.7 meters away at (-27.4, -28.7). A vehicle with ID 39 is 50.9 meters away at (-34.6, -37.3). A pedestrian with ID 8 is 51.1 meters away at (-51.0, -4.0). A vehicle with ID 44 is 58.6 meters away at (58.3, -5.7). A unknown object with ID 29 is 71.4 meters away at (-40.8, 58.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0.68341285 0.49311832] m/s.The unknown object with ID 32 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0.3145752  0.36767095] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.87489563 -0.7229232 ] m/s.The vehicle with ID 44 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -6.1) m/s. Its current heading (yaw) is -0.73 radians with an angular velocity of -0.73 rad/s.

The most relevant actors are: A vehicle with ID 6 is 19.3 meters away at (-17.6, 7.8). A vehicle with ID 35 is 38.3 meters away at (-34.4, -16.9). A unknown object with ID 20 is 45.1 meters away at (43.2, -13.2). A vehicle with ID 44 is 46.0 meters away at (45.6, 6.0). A vehicle with ID 30 is 49.2 meters away at (-33.7, 35.9). A vehicle with ID 14 is 56.6 meters away at (-37.9, 42.0). A pedestrian with ID 3 is 58.7 meters away at (49.4, -31.6). A pedestrian with ID 8 is 62.2 meters away at (-61.9, 6.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [2.6799304 1.5483176] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-2.1743975  1.2480736] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 1.0445757 -0.5089784] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.2) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 6 is 32.2 meters away at (-24.6, 20.8). A pedestrian with ID 3 is 34.7 meters away at (30.6, -16.3). A vehicle with ID 44 is 36.9 meters away at (31.7, 18.8). A vehicle with ID 35 is 48.8 meters away at (-48.6, -4.3). A vehicle with ID 30 is 68.3 meters away at (-48.1, 48.5). A vehicle with ID 1 is 74.1 meters away at (61.7, -41.1). A vehicle with ID 14 is 75.7 meters away at (-52.3, 54.6). A pedestrian with ID 8 is 76.6 meters away at (-74.2, 19.0). A pedestrian with ID 28 is 76.8 meters away at (-74.0, 20.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.5476665 -2.009964 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-2.20068    1.3890989] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.835055   -0.22897781] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.75930905 -0.6442739 ] 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, -9.8) m/s. Its current heading (yaw) is -2.04 radians with an angular velocity of -2.04 rad/s.

The most relevant actors are: A vehicle with ID 6 is 8.3 meters away at (0.2, 8.3). A vehicle with ID 43 is 11.3 meters away at (1.0, -11.2). A vehicle with ID 7 is 15.5 meters away at (-9.9, -12.0). A vehicle with ID 53 is 16.6 meters away at (-15.8, 5.2). A vehicle with ID 41 is 18.0 meters away at (-5.3, 17.2). A vehicle with ID 52 is 20.1 meters away at (-16.7, 11.1). A vehicle with ID 8 is 27.2 meters away at (-15.9, -22.1). A vehicle with ID 5 is 34.9 meters away at (11.0, 33.2). A vehicle with ID 17 is 39.4 meters away at (-33.7, -20.4). A unknown object with ID 44 is 41.3 meters away at (41.3, -0.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -6.680627 -13.832245] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-0.80938953 -0.3680221 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -7.29348  -13.157554] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 7.215504 15.01988 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.562568 13.985287] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -7.7266803 -13.121499 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -5.31619 -14.59505] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.519478 13.6985  ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -10.0) m/s. Its current heading (yaw) is -2.10 radians with an angular velocity of -2.10 rad/s.

The most relevant actors are: A vehicle with ID 6 is 3.9 meters away at (-3.7, 1.1). A vehicle with ID 43 is 13.9 meters away at (11.1, 8.4). A vehicle with ID 7 is 23.1 meters away at (-14.9, -17.7). A vehicle with ID 5 is 26.3 meters away at (9.5, 24.6). A vehicle with ID 17 is 28.5 meters away at (-7.4, 27.5). A vehicle with ID 8 is 35.2 meters away at (-21.9, -27.6). A vehicle with ID 41 is 37.4 meters away at (5.3, 37.0). A vehicle with ID 20 is 39.9 meters away at (-35.7, -17.7). A unknown object with ID 13 is 42.0 meters away at (40.1, -12.6). A vehicle with ID 9 is 47.9 meters away at (20.7, 43.2).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -7.856951 -13.324237] m/s.The vehicle with ID 43 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 [ -8.351086 -12.374106] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -6.9658785 -13.951216 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.138038 14.640168] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.704112 -12.430261] m/s.The vehicle with ID 41 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 [10.959199 16.500149] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -5.6481776 -12.970111 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -9.8) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A vehicle with ID 6 is 9.9 meters away at (-8.3, -5.4). A vehicle with ID 5 is 18.9 meters away at (6.9, 17.6). A vehicle with ID 7 is 29.7 meters away at (-19.8, -22.2). A vehicle with ID 20 is 35.6 meters away at (-2.7, 35.5). A vehicle with ID 37 is 36.2 meters away at (-34.6, -10.7). A vehicle with ID 43 is 36.4 meters away at (23.2, 28.0). A vehicle with ID 8 is 41.9 meters away at (-26.9, -32.1). A vehicle with ID 9 is 42.6 meters away at (20.9, 37.2). A unknown object with ID 13 is 52.7 meters away at (52.2, 7.0). A vehicle with ID 14 is 55.5 meters away at (-46.4, -30.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -9.137308 -13.305595] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.061628 -12.939114] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -8.946822 -12.050507] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 9.55347  17.480427] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 8.570382 12.509869] m/s.The vehicle with ID 43 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 [ -8.64969 -11.97866] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -6.6447234 -12.925728 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.987718 11.958156] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, -9.2) m/s. Its current heading (yaw) is -2.22 radians with an angular velocity of -2.22 rad/s.

The most relevant actors are: A vehicle with ID 5 is 12.1 meters away at (3.7, 11.5). A vehicle with ID 16 is 16.2 meters away at (-11.4, 11.5). A vehicle with ID 6 is 18.2 meters away at (-12.9, -12.8). A vehicle with ID 14 is 19.8 meters away at (-14.7, 13.3). A vehicle with ID 25 is 25.8 meters away at (-25.0, -6.3). A vehicle with ID 40 is 33.2 meters away at (-31.6, -10.0). A vehicle with ID 37 is 33.6 meters away at (-4.5, 33.3). A vehicle with ID 7 is 36.6 meters away at (-24.6, -27.1). A vehicle with ID 9 is 37.2 meters away at (20.4, 31.1). A vehicle with ID 8 is 47.4 meters away at (-30.4, -36.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ -8.9372  -12.45548] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [11.042134 15.415285] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ -8.98292  -13.325622] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.769666 12.382508] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [11.031827 15.154185] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 8.64128  11.470812] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 7.984945 12.593078] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ -9.299196 -12.249844] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -7.410334 -12.266739] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ -8.313953 -11.272634] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -0.0) m/s. Its current heading (yaw) is -0.01 radians with an angular velocity of -0.01 rad/s.

The most relevant actors are: A unknown object with ID 100 is 7.6 meters away at (3.4, -6.8). A unknown object with ID 97 is 8.6 meters away at (1.6, -8.4). A unknown object with ID 95 is 8.7 meters away at (-2.1, -8.4). A unknown object with ID 105 is 9.8 meters away at (6.2, -7.6). A unknown object with ID 103 is 9.8 meters away at (5.1, -8.4). A pedestrian with ID 78 is 10.0 meters away at (-5.1, -8.6). A vehicle with ID 99 is 10.2 meters away at (1.8, 10.0). A unknown object with ID 107 is 10.2 meters away at (6.9, -7.5). A vehicle with ID 96 is 11.9 meters away at (-1.8, 11.7). A unknown object with ID 75 is 12.0 meters away at (8.6, -8.4).

The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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 (7.9, -0.1) m/s. Its current heading (yaw) is -0.01 radians with an angular velocity of -0.01 rad/s.

The most relevant actors are: A unknown object with ID 112 is 8.3 meters away at (-4.3, -7.1). A unknown object with ID 59 is 8.4 meters away at (-0.2, -8.4). A unknown object with ID 44 is 8.5 meters away at (1.5, -8.4). A unknown object with ID 111 is 8.8 meters away at (-5.0, -7.2). A unknown object with ID 45 is 8.8 meters away at (-2.6, -8.4). A unknown object with ID 49 is 8.8 meters away at (-5.2, -7.1). A unknown object with ID 42 is 8.8 meters away at (-3.0, -8.3). A unknown object with ID 43 is 9.0 meters away at (3.3, -8.4). A unknown object with ID 110 is 9.3 meters away at (-5.7, -7.3). A unknown object with ID 109 is 9.5 meters away at (-6.0, -7.3).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 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 (7.8, -0.2) m/s. Its current heading (yaw) is -0.02 radians with an angular velocity of -0.02 rad/s.

The most relevant actors are: A unknown object with ID 70 is 8.8 meters away at (-3.6, -8.1). A unknown object with ID 120 is 9.6 meters away at (-6.0, -7.5). A vehicle with ID 87 is 10.1 meters away at (3.4, 9.5). A vehicle with ID 122 is 11.0 meters away at (-2.1, 10.8). A unknown object with ID 54 is 11.1 meters away at (-7.3, -8.4). A vehicle with ID 37 is 11.8 meters away at (5.8, 10.2). A vehicle with ID 125 is 12.0 meters away at (0.6, 12.0). A unknown object with ID 52 is 12.2 meters away at (-8.7, -8.5). A unknown object with ID 48 is 12.8 meters away at (-9.6, -8.4). A unknown object with ID 64 is 12.9 meters away at (2.4, 12.7).

The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 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 (7.6, -0.1) m/s. Its current heading (yaw) is -0.01 radians with an angular velocity of -0.01 rad/s.

The most relevant actors are: A unknown object with ID 88 is 10.7 meters away at (3.9, -9.9). A unknown object with ID 76 is 11.2 meters away at (-4.3, -10.4). A unknown object with ID 80 is 11.2 meters away at (9.2, -6.5). A vehicle with ID 37 is 14.2 meters away at (-9.7, 10.4). A unknown object with ID 83 is 15.4 meters away at (11.5, -10.2). A vehicle with ID 87 is 15.5 meters away at (-12.1, 9.7). A vehicle with ID 125 is 19.3 meters away at (-15.0, 12.1). A unknown object with ID 70 is 20.7 meters away at (-19.1, -7.9). A vehicle with ID 122 is 20.8 meters away at (-17.7, 11.0). A vehicle with ID 77 is 24.3 meters away at (-17.6, 16.7).

The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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 unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.7) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 8 is 30.9 meters away at (14.9, 27.1). A vehicle with ID 40 is 31.7 meters away at (-18.0, -26.1). A vehicle with ID 41 is 32.2 meters away at (-20.5, -24.8). A vehicle with ID 23 is 33.4 meters away at (-23.2, -24.0). A vehicle with ID 42 is 33.8 meters away at (-13.1, -31.2). A vehicle with ID 37 is 35.4 meters away at (-4.1, -35.1). A vehicle with ID 11 is 40.9 meters away at (-15.2, -38.0). A pedestrian with ID 39 is 49.9 meters away at (-5.3, -49.6). A pedestrian with ID 44 is 50.0 meters away at (-6.1, -49.7). A vehicle with ID 1 is 63.2 meters away at (-22.2, -59.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.8474402 -2.981262 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.23973782 1.0772142 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.27267128 1.1424533 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 40 is 19.4 meters away at (-14.0, -13.4). A vehicle with ID 41 is 20.5 meters away at (-16.5, -12.1). A vehicle with ID 42 is 20.6 meters away at (-9.1, -18.5). A vehicle with ID 23 is 22.2 meters away at (-19.2, -11.2). A vehicle with ID 37 is 22.5 meters away at (-0.1, -22.5). A vehicle with ID 18 is 24.3 meters away at (-21.8, -10.9). A vehicle with ID 28 is 26.3 meters away at (-24.4, -9.9). A vehicle with ID 11 is 27.6 meters away at (-11.2, -25.3). A vehicle with ID 22 is 28.8 meters away at (-27.3, -9.2). A vehicle with ID 8 is 31.0 meters away at (9.4, 29.5).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 [-3.4865706 -6.7417154] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -6.0) m/s. Its current heading (yaw) is -1.88 radians with an angular velocity of -1.88 rad/s.

The most relevant actors are: A vehicle with ID 42 is 7.9 meters away at (-5.2, -5.9). A vehicle with ID 40 is 10.2 meters away at (-10.2, -0.9). A vehicle with ID 37 is 10.6 meters away at (3.7, -10.0). A vehicle with ID 41 is 12.7 meters away at (-12.7, 0.4). A vehicle with ID 11 is 14.7 meters away at (-7.4, -12.6). A vehicle with ID 23 is 15.3 meters away at (-15.2, 1.1). A vehicle with ID 18 is 17.9 meters away at (-17.9, 1.6). A unknown object with ID 20 is 20.6 meters away at (12.6, 16.3). A vehicle with ID 28 is 20.6 meters away at (-20.5, 2.5). A pedestrian with ID 3 is 20.8 meters away at (3.8, -20.5).

The vehicle with ID 42 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.27020895 0.9850551 ] m/s.

Instruction: Continue straight.