The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.6, 0.5) m/s. Its current heading (yaw) is 0.05 radians with an angular velocity of 0.05 rad/s.

The most relevant actors are: A vehicle with ID 18 is 26.3 meters away at (-23.1, -12.4). A unknown object with ID 10 is 42.1 meters away at (38.8, 16.2). A vehicle with ID 17 is 50.5 meters away at (-50.1, -6.0). A unknown object with ID 20 is 74.0 meters away at (-74.0, 1.9). A vehicle with ID 21 is 77.0 meters away at (-77.0, -0.3).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 21 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 (10.9, 0.9) m/s. Its current heading (yaw) is 0.08 radians with an angular velocity of 0.08 rad/s.

The most relevant actors are: A unknown object with ID 10 is 22.8 meters away at (17.4, 14.8). A vehicle with ID 9 is 42.1 meters away at (-14.8, -39.4). A vehicle with ID 18 is 46.7 meters away at (-44.6, -13.9). A vehicle with ID 17 is 71.9 meters away at (-71.5, -7.5).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (10.6, 0.9) m/s. Its current heading (yaw) is 0.08 radians with an angular velocity of 0.08 rad/s.

The most relevant actors are: A vehicle with ID 18 is 67.8 meters away at (-65.9, -15.7). A vehicle with ID 1 is 72.8 meters away at (72.7, -4.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.6) 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 3 is 15.0 meters away at (-9.9, -11.3). A unknown object with ID 70 is 18.4 meters away at (13.5, -12.4). A unknown object with ID 101 is 18.9 meters away at (14.0, -12.7). A unknown object with ID 57 is 19.2 meters away at (13.5, -13.7). A vehicle with ID 37 is 22.8 meters away at (-19.6, -11.6). A vehicle with ID 97 is 23.6 meters away at (23.0, 5.3). A vehicle with ID 39 is 36.1 meters away at (-35.8, 4.1). A unknown object with ID 126 is 42.6 meters away at (14.9, 39.9). A unknown object with ID 76 is 53.5 meters away at (-17.3, -50.6). A vehicle with ID 1 is 57.2 meters away at (-56.6, -8.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.1545954 -1.3676767] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.270286   2.3787932] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 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 vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.4) 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 3 is 14.8 meters away at (-14.6, -2.2). A unknown object with ID 70 is 18.7 meters away at (18.3, -4.1). A unknown object with ID 57 is 18.9 meters away at (18.1, -5.4). A unknown object with ID 101 is 19.1 meters away at (18.6, -4.6). A unknown object with ID 74 is 20.3 meters away at (19.4, -6.1). A vehicle with ID 37 is 24.4 meters away at (-24.2, 2.8). A vehicle with ID 39 is 33.6 meters away at (-31.4, 12.0). A vehicle with ID 48 is 37.5 meters away at (23.1, -29.6). A unknown object with ID 76 is 44.4 meters away at (-12.5, -42.6). A unknown object with ID 45 is 47.8 meters away at (21.5, -42.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7312584  1.8133531] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 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 [-4.92316    3.3376393] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.1) m/s. Its current heading (yaw) is -3.11 radians with an angular velocity of -3.11 rad/s.

The most relevant actors are: A vehicle with ID 3 is 18.9 meters away at (-17.4, 7.4). A unknown object with ID 101 is 24.9 meters away at (24.8, -0.4). A unknown object with ID 57 is 25.3 meters away at (25.2, -1.0). A unknown object with ID 70 is 25.4 meters away at (25.4, 0.1). A unknown object with ID 94 is 25.7 meters away at (25.7, -1.0). A unknown object with ID 74 is 26.6 meters away at (26.5, -1.9). A vehicle with ID 39 is 29.2 meters away at (-24.3, 16.2). A vehicle with ID 37 is 31.1 meters away at (-27.7, 14.2). A unknown object with ID 55 is 36.8 meters away at (23.3, -28.6). A pedestrian with ID 103 is 37.4 meters away at (33.2, 17.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.1472     3.2289603] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-5.0787787  3.5644746] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.08665995 0.24072237] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 39 is 19.9 meters away at (-14.8, 13.3). A vehicle with ID 3 is 21.0 meters away at (-17.9, 11.0). A unknown object with ID 107 is 30.0 meters away at (20.4, 22.0). A vehicle with ID 37 is 32.3 meters away at (-27.1, 17.5). A unknown object with ID 101 is 34.4 meters away at (34.2, -3.7). A pedestrian with ID 4 is 34.7 meters away at (-33.8, -7.7). A unknown object with ID 57 is 34.8 meters away at (34.5, -4.1). A unknown object with ID 70 is 34.9 meters away at (34.8, -2.6). A unknown object with ID 94 is 35.0 meters away at (34.8, -4.2). A pedestrian with ID 5 is 35.1 meters away at (-34.1, -8.2).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.4368854  2.9834309] m/s.The unknown object with ID 107 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 [-3.5585594  2.5598814] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.008685   -0.73691934] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.9834345 -0.7469906] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -6.5) m/s. Its current heading (yaw) is -1.96 radians with an angular velocity of -1.96 rad/s.

The most relevant actors are: A vehicle with ID 58 is 27.9 meters away at (-26.8, -7.6). A vehicle with ID 60 is 30.4 meters away at (-28.6, -10.3). A vehicle with ID 62 is 30.6 meters away at (5.4, -30.1). A vehicle with ID 63 is 32.0 meters away at (-28.9, -13.8). A vehicle with ID 29 is 36.1 meters away at (2.8, -36.0). A pedestrian with ID 66 is 36.3 meters away at (-5.9, -35.8). A vehicle with ID 64 is 37.2 meters away at (-36.4, -7.3). A vehicle with ID 68 is 40.6 meters away at (-40.5, -2.2). A pedestrian with ID 18 is 41.9 meters away at (-8.8, -41.0). A pedestrian with ID 69 is 42.9 meters away at (-41.8, 9.5).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.5386144 -1.0825025] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.5461557  -0.20320758] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.7455065 -1.2589473] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.284472   -0.39564443] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.6) 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 62 is 20.2 meters away at (10.8, -17.0). A vehicle with ID 58 is 22.1 meters away at (-21.3, 5.6). A vehicle with ID 60 is 23.4 meters away at (-23.2, 2.9). A vehicle with ID 63 is 23.4 meters away at (-23.4, -0.7). A vehicle with ID 29 is 24.3 meters away at (8.1, -22.9). A pedestrian with ID 66 is 24.9 meters away at (-1.6, -24.9). A pedestrian with ID 18 is 30.8 meters away at (-4.7, -30.5). A pedestrian with ID 46 is 31.4 meters away at (-23.1, 21.3). A vehicle with ID 64 is 31.6 meters away at (-31.1, 5.8). A vehicle with ID 43 is 32.7 meters away at (-32.6, 3.2).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.8302742 -1.0205014] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.8019628 -1.2202202] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.9406973  -0.62576723] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.5) 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 pedestrian with ID 66 is 13.4 meters away at (2.2, -13.3). A vehicle with ID 29 is 16.7 meters away at (13.5, -9.8). A vehicle with ID 62 is 16.9 meters away at (16.4, -3.9). A pedestrian with ID 18 is 19.9 meters away at (-0.5, -19.9). A vehicle with ID 63 is 21.7 meters away at (-17.7, 12.5). A vehicle with ID 60 is 23.7 meters away at (-17.5, 16.0). A vehicle with ID 58 is 24.3 meters away at (-15.6, 18.7). A vehicle with ID 40 is 26.8 meters away at (-19.9, -17.9). A unknown object with ID 13 is 30.2 meters away at (-23.1, -19.4). A unknown object with ID 14 is 30.4 meters away at (-23.8, -19.0).

The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.88472295 -0.68254936] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.8110843 -1.1985085] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 [1.3602008 6.656075 ] 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.6) 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 pedestrian with ID 66 is 6.0 meters away at (5.8, -1.2). A pedestrian with ID 18 is 9.8 meters away at (3.2, -9.3). A vehicle with ID 40 is 16.3 meters away at (-14.6, 7.3). A unknown object with ID 13 is 18.6 meters away at (-17.4, -6.5). A unknown object with ID 14 is 19.1 meters away at (-18.1, -6.1). A vehicle with ID 29 is 19.2 meters away at (19.0, 3.1). A unknown object with ID 12 is 19.3 meters away at (-18.0, -7.1). A pedestrian with ID 16 is 22.3 meters away at (-3.4, -22.0). A vehicle with ID 62 is 23.8 meters away at (22.1, 8.9). A vehicle with ID 70 is 26.3 meters away at (-25.1, 7.5).

The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.94419456 -0.18821894] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-1.0353868 -1.0052315] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.569035  6.086113] 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.53634435 1.1394652 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 7.0) m/s. Its current heading (yaw) is 2.13 radians with an angular velocity of 2.13 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 7.2) m/s. Its current heading (yaw) is 2.01 radians with an angular velocity of 2.01 rad/s.

The most relevant actors are: A cyclist with ID 3 is 23.8 meters away at (12.8, 20.1).

The cyclist with ID 3 is traveling at a (x, y) velocity of [  3.6849337 -14.747538 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, 7.1) m/s. Its current heading (yaw) is 1.88 radians with an angular velocity of 1.88 rad/s.

The most relevant actors are: A vehicle with ID 7 is 20.4 meters away at (12.1, 16.4). A vehicle with ID 2 is 24.6 meters away at (15.1, 19.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [  2.865095 -14.164268] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [  2.5059783 -13.217853 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -2.3) m/s. Its current heading (yaw) is -1.71 radians with an angular velocity of -1.71 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 14.3 meters away at (-12.0, -7.7). A pedestrian with ID 29 is 26.9 meters away at (-26.6, -3.8). A vehicle with ID 36 is 47.9 meters away at (-29.3, -37.8). A pedestrian with ID 30 is 50.4 meters away at (17.3, 47.3). A vehicle with ID 39 is 56.4 meters away at (-48.5, -28.7). A pedestrian with ID 31 is 58.9 meters away at (7.0, 58.5). A vehicle with ID 21 is 68.6 meters away at (-68.4, 5.5). A pedestrian with ID 38 is 70.7 meters away at (-67.6, 20.6). A vehicle with ID 28 is 74.1 meters away at (15.4, 72.5). A vehicle with ID 7 is 74.8 meters away at (-35.2, -66.0).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.414161    0.36949393] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.07401463 -0.14243743] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.7519713 -1.2455713] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1961715 -0.4716175] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.7234797 -2.966549 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1165135  -0.38387674] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.200473 12.244005] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -1.6) m/s. Its current heading (yaw) is -1.56 radians with an angular velocity of -1.56 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 15.0 meters away at (-14.7, -3.2). A pedestrian with ID 29 is 26.3 meters away at (-26.3, -0.4). A pedestrian with ID 1 is 37.7 meters away at (31.5, -20.6). A vehicle with ID 36 is 45.1 meters away at (-29.1, -34.4). A pedestrian with ID 30 is 51.6 meters away at (19.1, 48.0). A vehicle with ID 39 is 54.5 meters away at (-48.3, -25.3). A vehicle with ID 21 is 54.6 meters away at (-54.6, 2.6). A pedestrian with ID 31 is 61.9 meters away at (9.9, 61.1). A pedestrian with ID 38 is 69.4 meters away at (-65.4, 23.1). A pedestrian with ID 17 is 70.2 meters away at (-6.6, 69.9).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4504547   0.58757067] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00225254  0.02402108] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2390349  -0.65035033] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.71479267 -1.2016734 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.2526383 -3.3050096] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3515188 -0.2875749] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.9830773  -0.45737696] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.8138596 -1.0322334] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -2.8) m/s. Its current heading (yaw) is -1.37 radians with an angular velocity of -1.37 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 18.4 meters away at (-18.1, 3.0). A pedestrian with ID 29 is 27.2 meters away at (-26.7, 4.8). A pedestrian with ID 1 is 37.9 meters away at (33.9, -16.9). A vehicle with ID 21 is 39.5 meters away at (-39.5, 0.1). A vehicle with ID 36 is 41.6 meters away at (-29.5, -29.3). A vehicle with ID 39 is 52.7 meters away at (-48.7, -20.2). A pedestrian with ID 30 is 55.5 meters away at (20.6, 51.5). A pedestrian with ID 31 is 66.8 meters away at (11.9, 65.7). A cyclist with ID 25 is 68.7 meters away at (44.7, -52.2). A vehicle with ID 6 is 68.8 meters away at (-35.9, -58.7).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.4586495   0.44314745] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01916553 -0.10860731] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4673486  -0.70328945] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 7.58093   -3.7272904] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.73388714 -0.48009017] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9172689  -0.45502338] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [ 3.0760462 -1.7626537] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -1.8) m/s. Its current heading (yaw) is -1.17 radians with an angular velocity of -1.17 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 23.9 meters away at (-22.3, 8.5). A vehicle with ID 21 is 28.8 meters away at (-28.6, -3.4). A pedestrian with ID 29 is 29.4 meters away at (-28.0, 9.0). A pedestrian with ID 1 is 38.1 meters away at (35.5, -13.9). A vehicle with ID 36 is 39.6 meters away at (-30.8, -24.9). A unknown object with ID 13 is 43.5 meters away at (-12.0, 41.8). A vehicle with ID 39 is 52.5 meters away at (-50.1, -15.7). A vehicle with ID 24 is 63.6 meters away at (-59.6, 22.3). A vehicle with ID 6 is 65.5 meters away at (-37.3, -53.9). A pedestrian with ID 38 is 70.1 meters away at (-62.9, 31.0).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.3403512  0.6776484] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.4812627 -4.8781567] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01399644 -0.01442664] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.4260089 -0.6953947] m/s.The vehicle with ID 36 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 39 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 [ 5.9786487 -2.3788393] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2194793  -0.15061508] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.6) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A vehicle with ID 4 is 7.2 meters away at (-1.5, -7.0). A vehicle with ID 10 is 9.8 meters away at (8.4, 4.9). A vehicle with ID 41 is 12.8 meters away at (-1.5, -12.7). A vehicle with ID 5 is 15.5 meters away at (9.9, 11.9). A vehicle with ID 39 is 22.4 meters away at (16.6, 15.1). A unknown object with ID 40 is 23.6 meters away at (23.3, -3.7). A vehicle with ID 7 is 32.9 meters away at (21.2, 25.2). A vehicle with ID 42 is 35.3 meters away at (25.0, 25.0). A vehicle with ID 32 is 44.8 meters away at (-30.5, -32.8). A vehicle with ID 45 is 44.9 meters away at (26.3, -36.3).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.194311  -7.2541423] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.0943356 -5.994861 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-4.7687516 -5.4126687] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-3.4925048 -4.5194983] m/s.The unknown object with ID 40 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 [-4.1084123 -4.824753 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.3954482 -4.033835 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -6.1) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 10 is 7.5 meters away at (6.8, 3.1). A vehicle with ID 41 is 8.4 meters away at (8.3, -0.8). A vehicle with ID 4 is 11.7 meters away at (-4.6, -10.8). A vehicle with ID 5 is 14.7 meters away at (9.2, 11.4). A vehicle with ID 39 is 26.7 meters away at (21.9, 15.3). A unknown object with ID 40 is 34.2 meters away at (33.2, 8.2). A vehicle with ID 7 is 35.5 meters away at (22.8, 27.3). A vehicle with ID 48 is 37.2 meters away at (37.1, 3.1). A vehicle with ID 42 is 37.7 meters away at (26.5, 26.9). A vehicle with ID 36 is 43.4 meters away at (-19.4, -38.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.429584 -7.601378] m/s.The vehicle with ID 41 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 [-6.7431197 -7.977206 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.7281313 -6.644498 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-0.69975364 -6.5580363 ] m/s.The unknown object with ID 40 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 [-4.56322  -5.292102] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-6.6159253  2.5487404] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.6189713 -5.549556 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [7.3630176 9.076736 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -6.4) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 10 is 4.3 meters away at (4.3, 0.0). A vehicle with ID 36 is 10.4 meters away at (5.2, -9.0). A vehicle with ID 5 is 13.7 meters away at (8.6, 10.6). A vehicle with ID 4 is 15.6 meters away at (-7.1, -13.8). A vehicle with ID 41 is 22.0 meters away at (18.6, 11.8). A vehicle with ID 7 is 36.0 meters away at (23.1, 27.6). A vehicle with ID 39 is 39.7 meters away at (36.8, 15.0). A unknown object with ID 35 is 41.0 meters away at (40.7, 4.9). A vehicle with ID 42 is 41.1 meters away at (31.1, 26.9). A vehicle with ID 48 is 44.6 meters away at (38.6, 22.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-6.4665213 -7.650562 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [6.400428 7.844808] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.4145064 -6.322545 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.176655 -7.241775] m/s.The vehicle with ID 41 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 [-5.283526 -6.322804] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 4.9868274 -5.8076935] m/s.The unknown object with ID 35 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 [-0.2153431 -6.7697253] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-2.7603045  4.287481 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -6.9) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 10 is 4.0 meters away at (3.9, -0.6). A vehicle with ID 23 is 12.8 meters away at (0.5, -12.8). A vehicle with ID 5 is 15.0 meters away at (9.4, 11.6). A vehicle with ID 4 is 15.4 meters away at (-7.0, -13.7). A vehicle with ID 36 is 32.1 meters away at (27.0, 17.4). A vehicle with ID 7 is 35.9 meters away at (23.1, 27.5). A vehicle with ID 41 is 39.3 meters away at (29.9, 25.4). A vehicle with ID 18 is 44.2 meters away at (-20.4, -39.3). A vehicle with ID 3 is 45.9 meters away at (-26.5, -37.5). A vehicle with ID 8 is 50.2 meters away at (-31.7, -38.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.3110547 -6.315249 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [5.261988 7.213701] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-5.45326   -6.3501735] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-5.1635036 -6.0538445] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [3.7855496 4.802048 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-5.7387624 -6.769268 ] m/s.The vehicle with ID 41 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 [5.835171 6.511253] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.6669888 -4.2441235] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, 0.0) m/s. Its current heading (yaw) is 0.00 radians with an angular velocity of 0.00 rad/s.

The most relevant actors are: A vehicle with ID 37 is 6.9 meters away at (-0.8, -6.9). A vehicle with ID 36 is 7.9 meters away at (-4.1, -6.7). A vehicle with ID 35 is 11.6 meters away at (-9.5, -6.7). A vehicle with ID 34 is 17.1 meters away at (-16.0, -6.1). A vehicle with ID 33 is 35.1 meters away at (34.4, -7.0). A vehicle with ID 32 is 38.1 meters away at (37.4, -6.9). A vehicle with ID 38 is 39.0 meters away at (-36.2, 14.4). A vehicle with ID 39 is 41.0 meters away at (-40.4, -6.9). A vehicle with ID 40 is 41.4 meters away at (-37.6, 17.3). A vehicle with ID 23 is 43.3 meters away at (42.7, -7.0).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 33 is 16.0 meters away at (14.4, -7.0). A vehicle with ID 32 is 18.7 meters away at (17.4, -6.9). A vehicle with ID 37 is 21.9 meters away at (-20.8, -6.8). A vehicle with ID 23 is 23.7 meters away at (22.6, -7.0). A vehicle with ID 36 is 25.0 meters away at (-24.1, -6.5). A vehicle with ID 31 is 26.4 meters away at (25.4, -7.0). A vehicle with ID 35 is 30.3 meters away at (-29.6, -6.4). A vehicle with ID 34 is 36.6 meters away at (-36.1, -6.1). A vehicle with ID 40 is 60.3 meters away at (-57.7, 17.4). A vehicle with ID 39 is 60.9 meters away at (-60.5, -6.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [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 vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.7, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 32 is 7.5 meters away at (-2.6, -7.0). A vehicle with ID 23 is 7.5 meters away at (2.6, -7.0). A vehicle with ID 33 is 8.9 meters away at (-5.5, -7.0). A vehicle with ID 31 is 9.0 meters away at (5.4, -7.1). A vehicle with ID 37 is 41.4 meters away at (-40.8, -7.0). A vehicle with ID 36 is 44.6 meters away at (-44.1, -6.7). A vehicle with ID 35 is 50.0 meters away at (-49.6, -6.4). A vehicle with ID 34 is 56.5 meters away at (-56.2, -6.1). A vehicle with ID 7 is 76.4 meters away at (75.5, 11.1). A vehicle with ID 40 is 79.7 meters away at (-77.8, 17.4).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 7 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 31 is 14.9 meters away at (-13.2, -7.0). A vehicle with ID 23 is 17.5 meters away at (-16.1, -6.9). A vehicle with ID 32 is 22.3 meters away at (-21.3, -6.8). A vehicle with ID 33 is 25.3 meters away at (-24.3, -6.8). A unknown object with ID 2 is 34.3 meters away at (34.1, -3.4). A vehicle with ID 3 is 44.9 meters away at (40.4, -19.6). A vehicle with ID 1 is 47.6 meters away at (43.6, -19.1). A unknown object with ID 4 is 48.2 meters away at (47.3, 9.4). A vehicle with ID 7 is 58.3 meters away at (57.1, 11.6). A vehicle with ID 37 is 59.9 meters away at (-59.5, -6.9).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 9.5) m/s. Its current heading (yaw) is 1.21 radians with an angular velocity of 1.21 rad/s.

The most relevant actors are: A unknown object with ID 15 is 16.1 meters away at (1.2, 16.1). A vehicle with ID 19 is 35.3 meters away at (25.0, -24.9).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 9.9) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A unknown object with ID 15 is 6.8 meters away at (-6.0, -3.2). A vehicle with ID 19 is 47.7 meters away at (18.0, -44.2).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 9.9) m/s. Its current heading (yaw) is 1.33 radians with an angular velocity of 1.33 rad/s.

The most relevant actors are: A unknown object with ID 15 is 25.9 meters away at (-12.0, -23.0). A unknown object with ID 13 is 39.6 meters away at (-19.5, -34.4). A unknown object with ID 10 is 56.5 meters away at (36.7, 42.9). A unknown object with ID 9 is 57.9 meters away at (37.2, 44.3). A unknown object with ID 8 is 59.7 meters away at (37.9, 46.1). A unknown object with ID 7 is 61.7 meters away at (38.6, 48.2). A unknown object with ID 6 is 63.8 meters away at (39.3, 50.3). A vehicle with ID 19 is 65.0 meters away at (11.8, -63.9). A unknown object with ID 5 is 65.9 meters away at (40.0, 52.4). A unknown object with ID 4 is 67.3 meters away at (40.4, 53.9).

The unknown object with ID 15 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 10 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 8 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 vehicle with ID 19 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 9.7) m/s. Its current heading (yaw) is 1.36 radians with an angular velocity of 1.36 rad/s.

The most relevant actors are: A unknown object with ID 14 is 39.4 meters away at (34.1, 19.6). A unknown object with ID 10 is 39.4 meters away at (32.0, 23.1). A unknown object with ID 9 is 41.2 meters away at (32.7, 25.0). A unknown object with ID 8 is 42.9 meters away at (33.4, 26.9). A unknown object with ID 7 is 44.6 meters away at (34.1, 28.8). A unknown object with ID 6 is 46.3 meters away at (34.6, 30.8). A unknown object with ID 5 is 48.0 meters away at (35.2, 32.6). A unknown object with ID 4 is 49.2 meters away at (35.6, 34.0). A unknown object with ID 3 is 51.4 meters away at (36.4, 36.3). A unknown object with ID 1 is 55.1 meters away at (37.6, 40.3).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 5 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 3 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 10.5) m/s. Its current heading (yaw) is 1.94 radians with an angular velocity of 1.94 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.7) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 9.9) m/s. Its current heading (yaw) is 1.97 radians with an angular velocity of 1.97 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 10.9) m/s. Its current heading (yaw) is 1.97 radians with an angular velocity of 1.97 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.7) m/s. Its current heading (yaw) is 2.36 radians with an angular velocity of 2.36 rad/s.

The most relevant actors are: A vehicle with ID 61 is 7.0 meters away at (-5.1, -4.8). A vehicle with ID 67 is 8.4 meters away at (-8.2, -1.7). A vehicle with ID 58 is 8.5 meters away at (-1.8, -8.3). A vehicle with ID 55 is 11.8 meters away at (1.5, -11.7). A vehicle with ID 50 is 15.7 meters away at (4.9, -15.0). A vehicle with ID 51 is 21.4 meters away at (9.3, -19.3). A vehicle with ID 54 is 21.5 meters away at (20.2, -7.3). A vehicle with ID 27 is 22.1 meters away at (-21.9, -3.2). A vehicle with ID 52 is 25.2 meters away at (19.8, -15.5). A vehicle with ID 56 is 26.3 meters away at (13.1, -22.8).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.5) m/s. Its current heading (yaw) is 2.38 radians with an angular velocity of 2.38 rad/s.

The most relevant actors are: A vehicle with ID 67 is 13.3 meters away at (3.0, -13.0). A vehicle with ID 61 is 17.2 meters away at (6.1, -16.0). A vehicle with ID 78 is 17.5 meters away at (-16.9, -4.6). A vehicle with ID 27 is 17.8 meters away at (-10.5, -14.4). A vehicle with ID 45 is 20.6 meters away at (-18.8, 8.5). A vehicle with ID 58 is 21.8 meters away at (9.5, -19.6). A vehicle with ID 42 is 23.7 meters away at (-21.0, -11.0). A vehicle with ID 21 is 24.9 meters away at (-18.1, 17.1). A vehicle with ID 46 is 25.5 meters away at (-22.5, 11.9). A vehicle with ID 55 is 26.3 meters away at (12.8, -23.0).

The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-4.77061    5.2905645] m/s.The vehicle with ID 46 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.5) m/s. Its current heading (yaw) is 2.37 radians with an angular velocity of 2.37 rad/s.

The most relevant actors are: A vehicle with ID 45 is 7.9 meters away at (-7.5, -2.6). A vehicle with ID 46 is 11.2 meters away at (-11.2, 0.8). A pedestrian with ID 26 is 15.3 meters away at (-15.3, 0.9). A vehicle with ID 48 is 15.5 meters away at (-14.9, 4.3). A vehicle with ID 78 is 16.6 meters away at (-5.6, -15.6). A vehicle with ID 28 is 17.1 meters away at (-5.8, -16.1). A vehicle with ID 47 is 19.9 meters away at (-18.3, 7.8). A vehicle with ID 18 is 23.4 meters away at (-8.6, 21.8). A vehicle with ID 42 is 24.0 meters away at (-9.6, -22.0). A vehicle with ID 21 is 24.1 meters away at (-17.3, 16.8).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.97296184  0.9281282 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 21 is traveling at a (x, y) velocity of [-5.5831184  5.427577 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.6) m/s. Its current heading (yaw) is 2.36 radians with an angular velocity of 2.36 rad/s.

The most relevant actors are: A vehicle with ID 47 is 7.7 meters away at (-6.9, -3.4). A vehicle with ID 48 is 7.7 meters away at (-3.5, -6.8). A pedestrian with ID 26 is 10.2 meters away at (-5.7, -8.5). A vehicle with ID 46 is 10.4 meters away at (0.1, -10.4). A vehicle with ID 49 is 10.4 meters away at (-10.4, 0.1). A vehicle with ID 18 is 10.8 meters away at (2.7, 10.5). A vehicle with ID 45 is 14.3 meters away at (3.9, -13.7). A vehicle with ID 17 is 14.5 meters away at (-14.0, 3.6). A vehicle with ID 15 is 19.4 meters away at (-17.9, 7.5). A vehicle with ID 21 is 23.7 meters away at (-17.1, 16.4).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1003166  1.0594844] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-5.5147395  5.371463 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.0) 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 50 is 4.9 meters away at (4.9, 0.1). A vehicle with ID 52 is 8.5 meters away at (6.7, 5.2). A vehicle with ID 53 is 9.7 meters away at (-0.8, 9.7). A vehicle with ID 55 is 10.8 meters away at (-2.7, -10.5). A vehicle with ID 56 is 15.0 meters away at (1.0, 14.9). A vehicle with ID 58 is 21.2 meters away at (-21.2, -0.9). A vehicle with ID 57 is 21.3 meters away at (2.9, 21.1). A vehicle with ID 63 is 21.5 meters away at (14.4, -15.9). A vehicle with ID 59 is 24.3 meters away at (12.3, 21.0). A vehicle with ID 51 is 25.3 meters away at (12.8, -21.9).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 [-5.241147   1.8127369] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-3.4185338  1.3280703] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.7) m/s. Its current heading (yaw) is -1.60 radians with an angular velocity of -1.60 rad/s.

The most relevant actors are: A vehicle with ID 50 is 8.6 meters away at (6.2, 5.9). A vehicle with ID 52 is 13.7 meters away at (8.1, 11.1). A vehicle with ID 63 is 14.3 meters away at (11.5, -8.6). A vehicle with ID 55 is 14.3 meters away at (-14.3, -0.1). A vehicle with ID 53 is 15.7 meters away at (0.7, 15.7). A vehicle with ID 58 is 20.6 meters away at (-19.9, 5.2). A vehicle with ID 56 is 21.1 meters away at (2.4, 20.9). A vehicle with ID 51 is 21.2 meters away at (13.9, -16.0). A vehicle with ID 65 is 25.4 meters away at (-12.8, -22.0). A vehicle with ID 49 is 25.9 meters away at (18.8, -17.8).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-0.72264826  0.17192815] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-7.4121823  2.6095598] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -3.4) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A vehicle with ID 63 is 7.0 meters away at (6.9, 0.7). A vehicle with ID 51 is 11.9 meters away at (9.8, -6.8). A vehicle with ID 50 is 15.2 meters away at (2.1, 15.1). A vehicle with ID 49 is 17.1 meters away at (14.7, -8.6). A vehicle with ID 52 is 20.7 meters away at (4.0, 20.3). A vehicle with ID 65 is 21.1 meters away at (-16.8, -12.8). A vehicle with ID 68 is 21.6 meters away at (-9.9, -19.2). A vehicle with ID 48 is 22.9 meters away at (20.3, -10.6). A vehicle with ID 53 is 25.1 meters away at (-3.5, 24.9). A vehicle with ID 66 is 25.9 meters away at (-23.0, -11.8).

The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 66 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, -2.0) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A vehicle with ID 51 is 2.6 meters away at (-1.4, -2.2). A vehicle with ID 49 is 5.1 meters away at (3.3, -3.9). A vehicle with ID 48 is 10.7 meters away at (8.9, -5.8). A vehicle with ID 63 is 11.0 meters away at (-8.7, 6.8). A unknown object with ID 13 is 16.8 meters away at (16.7, 2.2). A vehicle with ID 47 is 21.2 meters away at (19.0, -9.3). A vehicle with ID 50 is 21.8 meters away at (-9.4, 19.7). A vehicle with ID 45 is 26.6 meters away at (24.2, -11.1). A vehicle with ID 65 is 29.3 meters away at (-28.1, -8.3). A vehicle with ID 66 is 35.1 meters away at (-34.4, -7.3).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-4.5109997  1.5327245] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -1.1) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A unknown object with ID 33 is 38.7 meters away at (13.4, 36.3).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A unknown object with ID 33 is 39.0 meters away at (11.9, 37.1). A unknown object with ID 24 is 71.2 meters away at (58.3, -40.9).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A unknown object with ID 33 is 39.0 meters away at (11.8, 37.2).

The unknown object with ID 33 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 (0.4, -0.2) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A unknown object with ID 33 is 38.9 meters away at (11.4, 37.2).

The unknown object with ID 33 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, -2.1) m/s. Its current heading (yaw) is -1.45 radians with an angular velocity of -1.45 rad/s.

The most relevant actors are: A vehicle with ID 4 is 10.8 meters away at (1.5, -10.7). A vehicle with ID 3 is 12.0 meters away at (-2.9, 11.7). A vehicle with ID 21 is 17.6 meters away at (2.2, -17.4). A unknown object with ID 19 is 34.2 meters away at (-12.1, -32.0). A pedestrian with ID 26 is 52.4 meters away at (10.0, -51.5). A unknown object with ID 12 is 63.6 meters away at (-39.9, 49.5).

The vehicle with ID 4 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 [ 0.8736921 -3.6722605] m/s.The vehicle with ID 21 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 26 is traveling at a (x, y) velocity of [-0.1148325  1.7689841] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.6) m/s. Its current heading (yaw) is -1.40 radians with an angular velocity of -1.40 rad/s.

The most relevant actors are: A vehicle with ID 4 is 8.1 meters away at (1.1, -8.0). A vehicle with ID 3 is 8.9 meters away at (-2.0, 8.6). A vehicle with ID 21 is 14.8 meters away at (1.9, -14.7). A unknown object with ID 19 is 31.8 meters away at (-12.5, -29.3).

The vehicle with ID 4 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 [ 0.34728917 -1.484568  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.40 radians with an angular velocity of -1.40 rad/s.

The most relevant actors are: A vehicle with ID 4 is 7.6 meters away at (1.1, -7.5). A vehicle with ID 3 is 8.3 meters away at (-1.8, 8.1). A vehicle with ID 21 is 14.3 meters away at (1.7, -14.2). A unknown object with ID 19 is 31.5 meters away at (-12.6, -28.8).

The vehicle with ID 4 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.40 radians with an angular velocity of -1.40 rad/s.

The most relevant actors are: A vehicle with ID 4 is 7.6 meters away at (1.0, -7.5). A vehicle with ID 3 is 8.3 meters away at (-1.8, 8.1). A vehicle with ID 21 is 14.3 meters away at (1.8, -14.2). A unknown object with ID 19 is 31.4 meters away at (-12.6, -28.8). A pedestrian with ID 14 is 47.6 meters away at (10.1, -46.5).

The vehicle with ID 4 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 21 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 14 is traveling at a (x, y) velocity of [-0.11627194  0.45528185] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.0) 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 unknown object with ID 9 is 33.1 meters away at (-20.5, -26.0). A vehicle with ID 22 is 38.8 meters away at (6.0, 38.3). A pedestrian with ID 21 is 43.9 meters away at (43.4, -6.5).

The unknown object with ID 9 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 [-1.1360039 -6.229598 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00106331 -0.00668572] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -3.9) 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 vehicle with ID 22 is 36.2 meters away at (10.2, 34.7). A pedestrian with ID 21 is 49.8 meters away at (49.8, -0.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.938452  -3.5007837] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.01012432 -0.02482901] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.9) 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 22 is 40.4 meters away at (12.4, 38.5).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.60525703 -2.1904957 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -5.6) m/s. Its current heading (yaw) is -1.84 radians with an angular velocity of -1.84 rad/s.

The most relevant actors are: A vehicle with ID 22 is 46.5 meters away at (14.3, 44.3). A unknown object with ID 13 is 60.1 meters away at (-22.6, -55.7). A unknown object with ID 17 is 68.1 meters away at (-26.3, -62.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.99452114 -3.136434  ] 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A vehicle with ID 83 is 10.9 meters away at (3.9, -10.1). A vehicle with ID 81 is 12.7 meters away at (7.4, -10.3). A vehicle with ID 85 is 12.9 meters away at (-7.3, -10.6). A vehicle with ID 86 is 14.2 meters away at (-10.2, -9.9). A vehicle with ID 79 is 17.8 meters away at (14.2, -10.7). A vehicle with ID 87 is 17.9 meters away at (-14.7, -10.3). A vehicle with ID 78 is 20.9 meters away at (18.3, -10.1). A vehicle with ID 80 is 24.3 meters away at (22.0, -10.2). A vehicle with ID 82 is 27.2 meters away at (25.0, -10.7). A vehicle with ID 89 is 27.3 meters away at (-25.3, -10.4).

The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 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 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 0.0) m/s. Its current heading (yaw) is 3.14 radians with an angular velocity of 3.14 rad/s.

The most relevant actors are: A vehicle with ID 47 is 9.4 meters away at (2.7, 9.0). A vehicle with ID 87 is 10.5 meters away at (2.1, -10.3). A vehicle with ID 86 is 11.9 meters away at (6.7, -9.9). A vehicle with ID 64 is 12.0 meters away at (-9.3, 7.5). A unknown object with ID 66 is 13.0 meters away at (10.7, 7.4). A vehicle with ID 89 is 13.4 meters away at (-8.5, -10.4). A vehicle with ID 85 is 14.3 meters away at (9.6, -10.6). A vehicle with ID 91 is 14.4 meters away at (-12.6, 6.9). A vehicle with ID 92 is 17.0 meters away at (-15.9, 6.1). A vehicle with ID 93 is 21.6 meters away at (-20.7, 6.1).

The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.6567207  -0.08123764] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 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 (-9.3, 0.0) m/s. Its current heading (yaw) is 3.14 radians with an angular velocity of 3.14 rad/s.

The most relevant actors are: A vehicle with ID 92 is 6.5 meters away at (1.9, 6.2). A vehicle with ID 93 is 6.7 meters away at (-2.8, 6.1). A vehicle with ID 91 is 8.7 meters away at (5.2, 6.9). A vehicle with ID 64 is 11.5 meters away at (8.6, 7.5). A vehicle with ID 94 is 11.6 meters away at (-5.3, -10.3). A vehicle with ID 89 is 14.0 meters away at (9.3, -10.4). A vehicle with ID 77 is 15.3 meters away at (-11.6, -9.9). A vehicle with ID 76 is 18.7 meters away at (-15.8, -10.1). A unknown object with ID 61 is 19.3 meters away at (-19.1, 2.8). A vehicle with ID 75 is 21.5 meters away at (-19.1, -9.9).

The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.7, 0.1) m/s. Its current heading (yaw) is 3.13 radians with an angular velocity of 3.13 rad/s.

The most relevant actors are: A vehicle with ID 75 is 10.0 meters away at (-0.4, -10.0). A vehicle with ID 76 is 10.5 meters away at (2.9, -10.1). A vehicle with ID 77 is 12.2 meters away at (7.0, -10.0). A unknown object with ID 38 is 13.8 meters away at (10.3, 9.2). A vehicle with ID 25 is 15.7 meters away at (-11.6, -10.6). A vehicle with ID 93 is 17.0 meters away at (16.0, 5.9). A vehicle with ID 94 is 17.0 meters away at (13.4, -10.5). A vehicle with ID 23 is 18.5 meters away at (-15.2, -10.5). A vehicle with ID 92 is 21.7 meters away at (20.9, 6.0). A vehicle with ID 18 is 22.3 meters away at (-19.5, -10.9).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 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 vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 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 92 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 1.8) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 39 is 9.5 meters away at (-5.9, -7.5). A vehicle with ID 1 is 11.6 meters away at (7.2, 9.1). A vehicle with ID 2 is 19.8 meters away at (-12.4, -15.4). A pedestrian with ID 40 is 32.9 meters away at (10.0, 31.4). A vehicle with ID 8 is 35.9 meters away at (-22.7, -27.8). A unknown object with ID 41 is 45.1 meters away at (-34.8, -28.8). A unknown object with ID 43 is 49.0 meters away at (-23.0, -43.3). A vehicle with ID 44 is 51.6 meters away at (-29.1, -42.6). A pedestrian with ID 34 is 56.7 meters away at (48.0, 30.2). A vehicle with ID 38 is 60.2 meters away at (24.3, 55.1).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0.8402351 0.9936565] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [2.0487208 2.479728 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0.484029  0.5760534] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.8277879 -1.0823183] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [2.1974885 2.3756256] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.29324758  4.0267067 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.24551582 0.15407138] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.7) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 39 is 11.7 meters away at (-7.3, -9.1). A vehicle with ID 1 is 12.9 meters away at (8.0, 10.1). A pedestrian with ID 40 is 23.9 meters away at (3.7, 23.6). A vehicle with ID 2 is 24.0 meters away at (-15.2, -18.6). A vehicle with ID 8 is 36.9 meters away at (-23.1, -28.7). A vehicle with ID 38 is 53.4 meters away at (19.8, 49.6). A unknown object with ID 43 is 56.0 meters away at (-27.5, -48.8). A vehicle with ID 45 is 75.7 meters away at (-62.1, -43.3). A vehicle with ID 46 is 79.1 meters away at (-64.4, -46.0).

The vehicle with ID 39 is traveling at a (x, y) velocity of [2.2622523 2.7034123] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.124494 3.777597] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.88960415 -1.0986371 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [1.801315  2.1371987] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.8455421 2.075293 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 4.7) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 1 is 12.7 meters away at (7.9, 9.9). A pedestrian with ID 40 is 13.7 meters away at (-5.0, 12.7). A vehicle with ID 39 is 13.9 meters away at (-8.8, -10.8). A vehicle with ID 2 is 27.1 meters away at (-17.0, -21.1). A vehicle with ID 8 is 42.4 meters away at (-26.6, -33.0). A vehicle with ID 38 is 43.0 meters away at (13.0, 41.0). A vehicle with ID 31 is 69.6 meters away at (40.6, 56.5).

The vehicle with ID 1 is traveling at a (x, y) velocity of [3.8160994 4.3432755] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.71839803 -1.1291947 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [3.5318108 4.156772 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.1462684 3.6472242] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [2.3103924 2.758    ] m/s.The vehicle with ID 38 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 [ -7.8655868 -10.172451 ] 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, 4.4) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 1 is 13.3 meters away at (8.3, 10.4). A pedestrian with ID 40 is 14.3 meters away at (-14.2, 1.2). A vehicle with ID 39 is 14.4 meters away at (-9.2, -11.1). A vehicle with ID 2 is 28.3 meters away at (-17.9, -21.9). A vehicle with ID 38 is 32.2 meters away at (5.5, 31.8). A vehicle with ID 31 is 32.5 meters away at (17.6, 27.4). A unknown object with ID 35 is 40.5 meters away at (14.5, 37.8). A unknown object with ID 6 is 41.8 meters away at (35.4, 22.3). A vehicle with ID 8 is 44.6 meters away at (-28.2, -34.7). A vehicle with ID 20 is 57.3 meters away at (30.3, 48.7).

The vehicle with ID 1 is traveling at a (x, y) velocity of [4.6328588 5.38538  ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.7672505 -1.2324708] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [3.6354604 4.328091 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [3.6905851 4.29043  ] m/s.The vehicle with ID 38 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 [ -7.78962  -10.000218] 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 6 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 [3.3513339 4.1009035] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ -9.911969 -12.732377] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.7) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A unknown object with ID 66 is 23.5 meters away at (-16.2, 17.0). A pedestrian with ID 69 is 25.8 meters away at (-14.3, 21.5). A vehicle with ID 14 is 37.0 meters away at (-26.7, 25.6). A vehicle with ID 68 is 39.2 meters away at (-8.8, -38.2). A pedestrian with ID 40 is 47.6 meters away at (-5.0, -47.3). A vehicle with ID 70 is 48.5 meters away at (6.1, -48.1). A unknown object with ID 72 is 62.5 meters away at (21.7, -58.6). A unknown object with ID 60 is 73.8 meters away at (-69.6, 24.4).

The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.9001691  -0.91219646] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.38286996  0.05002789] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 (-4.5, 3.7) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A pedestrian with ID 69 is 12.6 meters away at (-3.5, 12.1). A unknown object with ID 27 is 13.7 meters away at (-8.2, 10.9). A vehicle with ID 38 is 24.8 meters away at (11.6, 21.9). A vehicle with ID 14 is 25.3 meters away at (-17.5, 18.3). A vehicle with ID 68 is 45.3 meters away at (0.4, -45.3). A pedestrian with ID 43 is 56.1 meters away at (46.8, -31.0). A vehicle with ID 70 is 57.4 meters away at (15.6, -55.2). A unknown object with ID 60 is 62.8 meters away at (-60.4, 17.2). A vehicle with ID 42 is 78.8 meters away at (-60.2, -50.9).

The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.9207391 -0.9126871] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.3682497 -1.1747063] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.8) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A unknown object with ID 61 is 3.5 meters away at (2.4, 2.5). A unknown object with ID 27 is 3.7 meters away at (1.0, 3.6). A pedestrian with ID 69 is 8.0 meters away at (7.4, 2.9). A vehicle with ID 14 is 13.8 meters away at (-8.2, 11.0). A vehicle with ID 38 is 25.4 meters away at (20.8, 14.6). A vehicle with ID 68 is 53.4 meters away at (9.8, -52.5). A pedestrian with ID 45 is 65.1 meters away at (14.6, -63.4). A vehicle with ID 70 is 67.7 meters away at (25.3, -62.8). A pedestrian with ID 43 is 69.6 meters away at (55.9, -41.4). A cyclist with ID 36 is 71.4 meters away at (-43.6, -56.6).

The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.78333557 -0.8952263 ] m/s.The vehicle with ID 14 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.7925344 -0.6450307] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.24683563 -1.4720621 ] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-1.7705839 -2.4577067] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 14 is 4.0 meters away at (0.8, 3.9). A unknown object with ID 27 is 10.6 meters away at (10.0, -3.6). A unknown object with ID 61 is 12.3 meters away at (11.3, -4.8). A pedestrian with ID 69 is 19.0 meters away at (17.9, -6.5). A unknown object with ID 62 is 36.3 meters away at (-3.9, -36.1). A unknown object with ID 32 is 43.0 meters away at (-23.1, 36.3). A pedestrian with ID 29 is 47.7 meters away at (-32.9, 34.6). A cyclist with ID 57 is 47.8 meters away at (-32.9, 34.7). A vehicle with ID 68 is 62.8 meters away at (19.0, -59.9). A vehicle with ID 8 is 71.6 meters away at (-71.4, -4.7).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.88559294 -1.0369139 ] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-2.0267427  1.3671186] m/s.The cyclist with ID 57 is traveling at a (x, y) velocity of [-2.5640843  2.1719632] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 5.1) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A unknown object with ID 66 is 7.7 meters away at (-5.2, 5.6). A vehicle with ID 73 is 14.5 meters away at (-4.4, 13.8). A vehicle with ID 62 is 15.9 meters away at (-15.9, 0.3). A vehicle with ID 75 is 16.5 meters away at (-6.7, 15.1). A vehicle with ID 69 is 17.7 meters away at (-15.6, 8.3). A vehicle with ID 65 is 17.9 meters away at (-17.7, 2.2). A vehicle with ID 89 is 20.0 meters away at (17.7, 9.3). A vehicle with ID 68 is 20.3 meters away at (-19.9, 3.6). A vehicle with ID 78 is 21.2 meters away at (-10.3, 18.5). A vehicle with ID 60 is 22.2 meters away at (-0.2, 22.2).

The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [ 3.883355 -6.237617] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 5.5) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 73 is 13.5 meters away at (-13.0, 3.4). A vehicle with ID 60 is 14.6 meters away at (-8.9, 11.6). A unknown object with ID 66 is 14.8 meters away at (-13.9, -4.9). A vehicle with ID 75 is 16.1 meters away at (-15.3, 4.9). A vehicle with ID 61 is 17.2 meters away at (-8.5, 15.0). A vehicle with ID 91 is 17.3 meters away at (17.2, 1.6). A vehicle with ID 78 is 20.6 meters away at (-18.9, 8.2). A vehicle with ID 81 is 23.1 meters away at (-20.7, 10.2). A vehicle with ID 90 is 23.7 meters away at (-13.6, 19.4). A vehicle with ID 93 is 23.9 meters away at (23.5, -4.4).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.5) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 91 is 12.4 meters away at (8.2, -9.4). A vehicle with ID 60 is 18.0 meters away at (-18.0, 0.7). A vehicle with ID 61 is 18.1 meters away at (-17.6, 4.1). A vehicle with ID 93 is 21.1 meters away at (14.5, -15.3). A vehicle with ID 59 is 22.9 meters away at (17.2, 15.1). A vehicle with ID 73 is 23.3 meters away at (-22.1, -7.4). A vehicle with ID 84 is 23.4 meters away at (-15.3, -17.7). A vehicle with ID 90 is 24.2 meters away at (-22.7, 8.6). A vehicle with ID 75 is 25.0 meters away at (-24.3, -6.0). A vehicle with ID 52 is 27.6 meters away at (19.8, -19.3).

The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [4.1346803 5.2957835] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.8) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 59 is 8.7 meters away at (7.8, 3.8). A vehicle with ID 18 is 19.2 meters away at (14.8, 12.1). A vehicle with ID 91 is 20.5 meters away at (-1.3, -20.5). A vehicle with ID 10 is 25.6 meters away at (19.1, 17.1). A vehicle with ID 24 is 25.9 meters away at (2.4, 25.8). A vehicle with ID 84 is 26.7 meters away at (-15.1, -22.1). A vehicle with ID 93 is 26.9 meters away at (5.1, -26.4). A vehicle with ID 61 is 27.9 meters away at (-27.0, -7.0). A vehicle with ID 60 is 29.3 meters away at (-27.3, -10.6). A vehicle with ID 90 is 32.2 meters away at (-32.1, -2.6).

The vehicle with ID 59 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 91 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [6.1313477 0.629123 ] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 5.2) m/s. Its current heading (yaw) is 1.03 radians with an angular velocity of 1.03 rad/s.

The most relevant actors are: A pedestrian with ID 34 is 10.5 meters away at (-2.3, 10.2). A pedestrian with ID 35 is 19.9 meters away at (4.0, 19.5). A pedestrian with ID 37 is 37.1 meters away at (-4.3, -36.8). A pedestrian with ID 38 is 37.8 meters away at (-4.8, -37.5). A vehicle with ID 8 is 45.9 meters away at (-25.9, -37.9). A unknown object with ID 23 is 64.1 meters away at (32.7, 55.2).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.02019445 0.01249672] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.06532636 0.00832266] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.5207506  -0.42903134] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.4657501  -0.38915107] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [1.3752527 7.0183525] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 5.5) m/s. Its current heading (yaw) is 1.11 radians with an angular velocity of 1.11 rad/s.

The most relevant actors are: A pedestrian with ID 34 is 8.1 meters away at (-8.1, -0.3). A pedestrian with ID 35 is 9.1 meters away at (-1.7, 9.0). A pedestrian with ID 32 is 32.6 meters away at (26.6, 18.7). A vehicle with ID 8 is 43.0 meters away at (-24.4, -35.4). A vehicle with ID 22 is 62.9 meters away at (39.4, 49.0).

The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.00223958 -0.02756565] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01494377 -0.00129813] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.89826816  0.32648262] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.9494042 6.5241637] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.2323682  -0.39564675] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.9) 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 pedestrian with ID 35 is 6.6 meters away at (-6.1, -2.4). A pedestrian with ID 34 is 17.2 meters away at (-12.6, -11.8). A vehicle with ID 8 is 37.7 meters away at (-18.1, -33.1). A vehicle with ID 22 is 44.2 meters away at (27.6, 34.5). A vehicle with ID 18 is 52.4 meters away at (36.4, 37.7). A pedestrian with ID 4 is 62.7 meters away at (2.4, 62.6). A pedestrian with ID 1 is 63.1 meters away at (1.5, 63.1). A unknown object with ID 5 is 70.1 meters away at (19.5, 67.3).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.02009862 0.00653133] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00806671 0.00149413] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [5.528619 7.442032] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.6649058 -2.9029536] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.7503467  -0.23784104] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.1462079  -0.08616546] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.68352324 -0.37513676] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 5.0) m/s. Its current heading (yaw) is 1.33 radians with an angular velocity of 1.33 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 16.2 meters away at (-9.0, -13.5). A vehicle with ID 22 is 23.5 meters away at (18.0, 15.0). A pedestrian with ID 34 is 27.6 meters away at (-15.5, -22.8). A vehicle with ID 8 is 30.3 meters away at (-10.7, -28.4). A vehicle with ID 18 is 33.8 meters away at (24.5, 23.3). A pedestrian with ID 1 is 50.6 meters away at (-2.2, 50.5). A pedestrian with ID 4 is 51.6 meters away at (-0.5, 51.6). A unknown object with ID 5 is 58.6 meters away at (16.5, 56.2).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01078509 -0.01384482] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.6455836 -5.556223 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00496468  0.00817647] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [4.755094 8.256664] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-3.6340063 -3.2692537] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.13970909 -0.678321  ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00992897  0.00172842] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.5) m/s. Its current heading (yaw) is -0.41 radians with an angular velocity of -0.41 rad/s.

The most relevant actors are: A vehicle with ID 52 is 6.9 meters away at (2.9, -6.3). A vehicle with ID 34 is 10.0 meters away at (-8.8, -4.7). A vehicle with ID 42 is 10.6 meters away at (9.7, -4.2). A vehicle with ID 2 is 10.6 meters away at (10.5, -1.3). A vehicle with ID 30 is 11.2 meters away at (-10.2, 4.6). A unknown object with ID 33 is 15.7 meters away at (-9.4, -12.6). A unknown object with ID 39 is 16.1 meters away at (-15.4, -4.7). A vehicle with ID 35 is 17.1 meters away at (16.3, -5.3). A unknown object with ID 43 is 17.7 meters away at (-17.3, -3.9). A unknown object with ID 36 is 19.8 meters away at (-18.9, -5.7).

The vehicle with ID 52 is traveling at a (x, y) velocity of [-13.956151    5.8852844] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-9.163926  4.018813] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 2.9262278 -1.3053477] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.4) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A vehicle with ID 42 is 8.2 meters away at (7.5, -3.3). A vehicle with ID 2 is 9.0 meters away at (9.0, -0.7). A vehicle with ID 30 is 9.4 meters away at (-8.5, 3.8). A vehicle with ID 35 is 14.6 meters away at (14.0, -4.3). A unknown object with ID 33 is 16.4 meters away at (-11.6, -11.6). A unknown object with ID 39 is 18.1 meters away at (-17.7, -3.7). A unknown object with ID 43 is 19.8 meters away at (-19.6, -2.9). A unknown object with ID 36 is 21.8 meters away at (-21.3, -4.7). A vehicle with ID 38 is 22.1 meters away at (-9.8, -19.8). A unknown object with ID 47 is 22.2 meters away at (-22.2, -1.7).

The vehicle with ID 42 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 [ 0.52398837 -0.24973325] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 1.231683   -0.51335025] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.44 radians with an angular velocity of -0.44 rad/s.

The most relevant actors are: A vehicle with ID 8 is 7.1 meters away at (2.4, -6.6). A vehicle with ID 42 is 7.6 meters away at (7.0, -3.1). A vehicle with ID 2 is 8.8 meters away at (8.8, -0.6). A vehicle with ID 30 is 9.1 meters away at (-8.3, 3.7). A vehicle with ID 35 is 14.1 meters away at (13.4, -4.1). A unknown object with ID 39 is 18.5 meters away at (-18.2, -3.4). A unknown object with ID 43 is 20.3 meters away at (-20.1, -2.7). A vehicle with ID 48 is 21.3 meters away at (-13.9, 16.1). A vehicle with ID 38 is 22.1 meters away at (-10.3, -19.5). A unknown object with ID 36 is 22.2 meters away at (-21.8, -4.4).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-14.564476    6.2445374] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 8.77259   -3.3558493] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 -0.44 radians with an angular velocity of -0.44 rad/s.

The most relevant actors are: A cyclist with ID 6 is 8.1 meters away at (2.5, -7.7). A vehicle with ID 42 is 8.7 meters away at (7.9, -3.7). A vehicle with ID 2 is 8.9 meters away at (8.8, -0.6). A vehicle with ID 30 is 9.1 meters away at (-8.3, 3.8). A vehicle with ID 48 is 10.6 meters away at (1.5, 10.5). A vehicle with ID 35 is 14.5 meters away at (13.8, -4.5). A unknown object with ID 39 is 18.6 meters away at (-18.3, -3.4). A unknown object with ID 43 is 20.4 meters away at (-20.2, -2.6). A vehicle with ID 38 is 22.1 meters away at (-10.4, -19.5). A unknown object with ID 47 is 22.8 meters away at (-22.8, -1.5).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-15.628041    7.0362954] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 1.2670468 -0.9846749] m/s.The vehicle with ID 2 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 48 is traveling at a (x, y) velocity of [ 7.057385  -1.3078028] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 0.56796676 -0.67911524] 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching