The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.1) m/s. Its current heading (yaw) is 2.83 radians with an angular velocity of 2.83 rad/s.

The most relevant actors are: A pedestrian with ID 17 is 12.4 meters away at (-7.3, -10.1). A pedestrian with ID 7 is 13.1 meters away at (-8.6, -9.8). A pedestrian with ID 11 is 13.4 meters away at (-8.3, -10.5). A vehicle with ID 58 is 16.7 meters away at (13.2, 10.2). A vehicle with ID 73 is 20.1 meters away at (-19.2, 5.7). A vehicle with ID 74 is 20.1 meters away at (-19.6, -4.6). A vehicle with ID 50 is 25.9 meters away at (-25.3, -5.9). A pedestrian with ID 49 is 26.4 meters away at (-26.0, 4.3). A vehicle with ID 29 is 27.5 meters away at (-15.4, 22.9). A pedestrian with ID 53 is 28.9 meters away at (16.3, 23.9).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0848364  0.35762987] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0081019  0.44933745] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0197291  0.47274294] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 6.2784815 -2.741415 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.11967685 -5.038568  ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-2.9912128 -6.719303 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.0088807 -0.2739378] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 9.846846 -4.172948] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.54421705 -0.7481977 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 0.0) 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 pedestrian with ID 7 is 10.1 meters away at (0.0, -10.1). A pedestrian with ID 17 is 10.5 meters away at (1.5, -10.4). A pedestrian with ID 11 is 10.7 meters away at (0.3, -10.7). A vehicle with ID 73 is 16.2 meters away at (-14.8, -6.7). A pedestrian with ID 49 is 16.8 meters away at (-16.7, 1.7). A vehicle with ID 29 is 16.8 meters away at (10.8, 12.8). A vehicle with ID 50 is 19.9 meters away at (-18.7, -7.1). A vehicle with ID 74 is 28.4 meters away at (-19.7, -20.4). A vehicle with ID 58 is 31.0 meters away at (30.7, 4.3). A pedestrian with ID 63 is 31.9 meters away at (-15.2, 28.1).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9146087  0.48149425] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.8901921  0.43555662] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.9003121 0.529381 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.2452385 -6.4163036] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.3232459  -0.90551805] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 9.440441  -4.8507905] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-3.615862 -7.65572 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.607713  -1.9687479] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.0284942   0.00499596] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.0) m/s. Its current heading (yaw) is -3.02 radians with an angular velocity of -3.02 rad/s.

The most relevant actors are: A pedestrian with ID 7 is 10.3 meters away at (4.8, -9.2). A pedestrian with ID 49 is 10.5 meters away at (-10.4, -0.9). A pedestrian with ID 11 is 11.0 meters away at (5.0, -9.8). A pedestrian with ID 17 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 50 is 17.3 meters away at (-15.8, -6.9). A vehicle with ID 73 is 25.9 meters away at (-17.0, -19.5). A pedestrian with ID 63 is 30.9 meters away at (-12.4, 28.3). A unknown object with ID 2 is 31.9 meters away at (-27.6, -16.0). A vehicle with ID 8 is 33.3 meters away at (33.2, 2.5). A vehicle with ID 29 is 33.4 meters away at (33.3, 2.5).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.9488582 0.3548172] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 1.9972839 -1.7956806] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0337425 0.355847 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0639337  0.29654062] m/s.The vehicle with ID 50 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 [-2.76917   -6.5936804] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-2.8498128e-02 -7.6142489e-05] m/s.The unknown object with ID 2 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 [10.636467  -5.1794333] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [10.4979725 -5.1944466] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.1) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A vehicle with ID 1 is 5.1 meters away at (1.8, -4.7). A unknown object with ID 7 is 5.4 meters away at (-0.2, 5.4). A unknown object with ID 37 is 6.7 meters away at (-2.2, 6.3). A unknown object with ID 38 is 8.4 meters away at (-4.2, 7.3). A pedestrian with ID 39 is 10.6 meters away at (-1.4, 10.5). A unknown object with ID 19 is 11.7 meters away at (7.0, -9.3). A unknown object with ID 42 is 12.4 meters away at (1.7, 12.3). A unknown object with ID 41 is 12.8 meters away at (0.4, 12.8). A pedestrian with ID 46 is 15.9 meters away at (5.0, -15.1). A pedestrian with ID 18 is 28.7 meters away at (-21.2, 19.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.7285633 -2.0886364] 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.97124577  0.6829139 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.23800008 -1.1346478 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.608999   -0.66963637] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -1.6) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A vehicle with ID 1 is 3.8 meters away at (-1.5, -3.5). A unknown object with ID 7 is 12.9 meters away at (-9.1, 9.1). A pedestrian with ID 46 is 13.8 meters away at (-4.0, -13.2). A unknown object with ID 37 is 15.0 meters away at (-11.2, 10.0). A unknown object with ID 34 is 16.5 meters away at (-5.9, 15.4). A unknown object with ID 38 is 17.1 meters away at (-13.1, 11.0). A unknown object with ID 42 is 17.5 meters away at (-7.2, 15.9). A unknown object with ID 41 is 18.5 meters away at (-8.4, 16.5). A unknown object with ID 31 is 19.6 meters away at (-9.7, 17.0). A pedestrian with ID 39 is 19.9 meters away at (-12.3, 15.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.3213875 -0.5719131] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.22370785 -1.2280898 ] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.9106192  0.6744925] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.1) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A vehicle with ID 1 is 7.0 meters away at (-6.9, -1.2). A unknown object with ID 21 is 11.3 meters away at (-9.6, -5.8). A cyclist with ID 50 is 13.6 meters away at (6.0, 12.2). A pedestrian with ID 46 is 16.7 meters away at (-11.2, -12.4). A unknown object with ID 7 is 19.6 meters away at (-15.7, 11.8). A unknown object with ID 33 is 20.8 meters away at (-11.1, 17.5). A unknown object with ID 37 is 21.9 meters away at (-17.8, 12.7). A unknown object with ID 34 is 22.0 meters away at (-12.5, 18.1). A unknown object with ID 42 is 23.1 meters away at (-13.7, 18.6). A unknown object with ID 38 is 24.0 meters away at (-19.8, 13.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.76160735 -0.15481964] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [-3.7206113 -0.9082325] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.17306623 -1.1172571 ] 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 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 (2.5, 0.6) m/s. Its current heading (yaw) is 0.24 radians with an angular velocity of 0.24 rad/s.

The most relevant actors are: A vehicle with ID 1 is 9.8 meters away at (-9.8, -0.8). A unknown object with ID 7 is 24.5 meters away at (-21.0, 12.7). A unknown object with ID 34 is 25.8 meters away at (-17.7, 18.8). A unknown object with ID 37 is 26.8 meters away at (-23.0, 13.6). A unknown object with ID 42 is 27.1 meters away at (-18.9, 19.5). A unknown object with ID 41 is 28.4 meters away at (-20.1, 20.1). A pedestrian with ID 35 is 28.7 meters away at (10.3, -26.8). A unknown object with ID 38 is 28.9 meters away at (-25.0, 14.6). A unknown object with ID 31 is 29.7 meters away at (-21.4, 20.6). A vehicle with ID 53 is 43.8 meters away at (38.9, -20.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.5271078  -0.07066199] 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 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 unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 4.6911545 -2.4424064] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.9) m/s. Its current heading (yaw) is 0.61 radians with an angular velocity of 0.61 rad/s.

The most relevant actors are: A vehicle with ID 2 is 10.4 meters away at (-8.4, -6.1).

The vehicle with ID 2 is traveling at a (x, y) velocity of [1.6923045 1.2151097] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 4.2) m/s. Its current heading (yaw) is 0.91 radians with an angular velocity of 0.91 rad/s.

The most relevant actors are: A vehicle with ID 2 is 12.4 meters away at (-9.6, -7.9).

The vehicle with ID 2 is traveling at a (x, y) velocity of [3.6860409 2.6884809] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.3) m/s. Its current heading (yaw) is 1.64 radians with an angular velocity of 1.64 rad/s.

The most relevant actors are: A vehicle with ID 2 is 13.1 meters away at (-5.3, -12.0). A unknown object with ID 6 is 14.9 meters away at (-14.0, 4.9).

The vehicle with ID 2 is traveling at a (x, y) velocity of [3.3838043 4.3735366] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 6.2) m/s. Its current heading (yaw) is 2.11 radians with an angular velocity of 2.11 rad/s.

The most relevant actors are: A unknown object with ID 6 is 12.0 meters away at (-9.3, -7.6). A vehicle with ID 2 is 14.0 meters away at (3.3, -13.6).

The unknown object with ID 6 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 [0.03473261 6.1956654 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -4.6) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 38 is 2.9 meters away at (-2.9, 0.2). A vehicle with ID 33 is 6.6 meters away at (6.5, 1.0). A vehicle with ID 36 is 7.0 meters away at (-0.5, 7.0). A vehicle with ID 39 is 13.3 meters away at (1.7, 13.2). A vehicle with ID 69 is 17.2 meters away at (-2.0, -17.0). A vehicle with ID 4 is 20.0 meters away at (-18.3, -8.1). A vehicle with ID 49 is 24.9 meters away at (5.9, 24.2). A unknown object with ID 14 is 25.4 meters away at (-2.2, 25.4). A vehicle with ID 45 is 28.8 meters away at (9.4, -27.2). A vehicle with ID 68 is 32.5 meters away at (-7.5, -31.6).

The vehicle with ID 38 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 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 vehicle with ID 69 is traveling at a (x, y) velocity of [1.5677565 4.4527383] m/s.The vehicle with ID 4 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 unknown object with ID 14 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 68 is traveling at a (x, y) velocity of [0.72253793 1.959689  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.94 radians with an angular velocity of -1.94 rad/s.

The most relevant actors are: A vehicle with ID 69 is 3.5 meters away at (2.9, -2.0). A vehicle with ID 38 is 4.9 meters away at (-1.2, 4.7). A vehicle with ID 33 is 10.0 meters away at (8.3, 5.6). A vehicle with ID 36 is 11.7 meters away at (1.2, 11.6). A vehicle with ID 4 is 16.9 meters away at (-16.5, -3.5). A vehicle with ID 39 is 18.3 meters away at (3.4, 17.9). A vehicle with ID 35 is 18.5 meters away at (10.2, -15.5). A vehicle with ID 68 is 21.8 meters away at (-3.8, -21.4). A vehicle with ID 34 is 24.9 meters away at (-24.9, -0.5). A vehicle with ID 45 is 25.2 meters away at (11.1, -22.6).

The vehicle with ID 69 is traveling at a (x, y) velocity of [1.8608407 6.0395546] m/s.The vehicle with ID 38 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [-2.1023471   0.75849366] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.3216381 3.7683344] m/s.The vehicle with ID 34 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.94 radians with an angular velocity of -1.94 rad/s.

The most relevant actors are: A vehicle with ID 38 is 5.2 meters away at (-1.1, 5.1). A vehicle with ID 33 is 10.3 meters away at (8.4, 5.9). A vehicle with ID 68 is 11.7 meters away at (-0.4, -11.7). A vehicle with ID 36 is 12.0 meters away at (1.3, 11.9). A vehicle with ID 69 is 13.7 meters away at (7.3, 11.6). A vehicle with ID 4 is 16.7 meters away at (-16.4, -3.1). A vehicle with ID 35 is 17.2 meters away at (9.0, -14.6). A vehicle with ID 39 is 18.4 meters away at (3.5, 18.1). A vehicle with ID 34 is 24.8 meters away at (-24.8, -0.1). A vehicle with ID 45 is 24.9 meters away at (11.2, -22.2).

The vehicle with ID 38 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 68 is traveling at a (x, y) velocity of [1.9087892 5.4123287] m/s.The vehicle with ID 36 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 [2.5446208 6.988775 ] m/s.The vehicle with ID 4 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 39 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 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 (-0.0, -0.0) m/s. Its current heading (yaw) is -1.94 radians with an angular velocity of -1.94 rad/s.

The most relevant actors are: A vehicle with ID 68 is 3.8 meters away at (3.8, 0.6). A vehicle with ID 38 is 5.2 meters away at (-1.1, 5.1). A vehicle with ID 33 is 10.3 meters away at (8.4, 6.0). A vehicle with ID 36 is 12.1 meters away at (1.4, 12.0). A vehicle with ID 4 is 16.7 meters away at (-16.4, -3.1). A vehicle with ID 35 is 17.1 meters away at (9.0, -14.6). A vehicle with ID 39 is 18.4 meters away at (3.5, 18.1). A vehicle with ID 34 is 24.8 meters away at (-24.8, -0.1). A vehicle with ID 45 is 24.9 meters away at (11.2, -22.2). A vehicle with ID 69 is 28.6 meters away at (12.8, 25.6).

The vehicle with ID 68 is traveling at a (x, y) velocity of [2.2001038 6.63074  ] m/s.The vehicle with ID 38 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 34 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 69 is traveling at a (x, y) velocity of [2.735511  6.8137465] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 37 is 26.7 meters away at (25.2, 8.8). A vehicle with ID 21 is 27.2 meters away at (-9.3, 25.5). A vehicle with ID 6 is 29.7 meters away at (19.8, 22.1). A pedestrian with ID 38 is 34.8 meters away at (27.5, 21.3). A vehicle with ID 10 is 48.0 meters away at (31.2, 36.5). A vehicle with ID 11 is 48.5 meters away at (-30.9, -37.4). A vehicle with ID 14 is 68.7 meters away at (44.2, 52.6). A pedestrian with ID 1 is 73.8 meters away at (40.0, 62.1).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [5.8604054 6.686778 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.89191014 -0.7781087 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.1480074 7.129751 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.425172 7.68188 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [6.4743757 7.5364203] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.97381365 1.0056981 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, 5.9) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 37 is 15.2 meters away at (14.9, -3.2). A pedestrian with ID 38 is 17.6 meters away at (15.6, 8.1). A vehicle with ID 21 is 23.7 meters away at (-19.5, 13.4). A vehicle with ID 6 is 32.1 meters away at (21.8, 23.5). A vehicle with ID 11 is 44.9 meters away at (-28.7, -34.6). A unknown object with ID 19 is 49.1 meters away at (46.5, -15.8). A vehicle with ID 10 is 51.3 meters away at (33.4, 39.0). A vehicle with ID 25 is 58.6 meters away at (-46.5, 35.6). A pedestrian with ID 22 is 59.0 meters away at (-48.8, 33.2). A pedestrian with ID 32 is 59.5 meters away at (-48.5, 34.6).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.5812228  -0.38190117] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [6.7015634 6.9822574] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.169285  7.2038894] m/s.The unknown object with ID 19 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 [5.967853 7.368845] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.01952811 0.01416295] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.14526857 -0.08800609] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 5.8) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 6.2 meters away at (5.1, -3.5). A vehicle with ID 37 is 15.6 meters away at (5.2, -14.8). A vehicle with ID 21 is 29.5 meters away at (-29.4, 2.0). A vehicle with ID 6 is 36.7 meters away at (25.7, 26.2). A vehicle with ID 11 is 41.9 meters away at (-26.7, -32.3). A unknown object with ID 19 is 45.8 meters away at (36.8, -27.3). A pedestrian with ID 1 is 47.9 meters away at (23.1, 42.0). A vehicle with ID 10 is 53.3 meters away at (34.7, 40.5). A vehicle with ID 25 is 61.2 meters away at (-56.3, 24.1). A unknown object with ID 23 is 61.6 meters away at (56.8, -23.7).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.03680933  0.05785789] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [6.489453 7.082404] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [5.71847   6.8037367] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.688477  0.9185248] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [4.619719 5.605516] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 16.2 meters away at (-5.0, -15.4). A vehicle with ID 37 is 27.0 meters away at (-4.8, -26.6). A pedestrian with ID 1 is 35.3 meters away at (14.5, 32.1). A vehicle with ID 11 is 39.4 meters away at (-25.1, -30.3). A vehicle with ID 6 is 39.4 meters away at (27.8, 27.9). A vehicle with ID 21 is 40.5 meters away at (-39.2, -9.9). A pedestrian with ID 33 is 42.2 meters away at (-41.4, -8.3). A unknown object with ID 19 is 47.4 meters away at (26.8, -39.1). A vehicle with ID 10 is 48.7 meters away at (31.7, 37.0). A vehicle with ID 14 is 58.8 meters away at (37.9, 44.9).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.0161577  -0.01265133] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.799296  1.0012395] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.0535784 7.091116 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [5.5598364 6.170216 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.02601019 0.00282758] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.4593449 2.9599574] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [1.221319 1.449944] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -7.5) m/s. Its current heading (yaw) is -1.61 radians with an angular velocity of -1.61 rad/s.

The most relevant actors are: A unknown object with ID 34 is 20.6 meters away at (-11.6, 17.1). A vehicle with ID 35 is 36.6 meters away at (35.8, 7.6). A unknown object with ID 18 is 41.5 meters away at (-6.5, -41.0). A unknown object with ID 38 is 54.6 meters away at (54.5, 2.4). A vehicle with ID 40 is 58.6 meters away at (58.5, 3.7). A pedestrian with ID 41 is 59.0 meters away at (59.0, -1.0). A unknown object with ID 33 is 65.2 meters away at (-24.4, -60.5). A vehicle with ID 36 is 67.3 meters away at (-2.7, 67.2). A pedestrian with ID 37 is 68.1 meters away at (0.4, 68.1). A unknown object with ID 6 is 68.8 meters away at (-25.0, -64.1).

The unknown object with ID 34 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 [-5.2043653 -0.0881009] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.06577512 -0.01702128] m/s.The unknown object with ID 33 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 pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.41870445 -0.41324806] m/s.The unknown object 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 (-0.7, -7.5) m/s. Its current heading (yaw) is -1.66 radians with an angular velocity of -1.66 rad/s.

The most relevant actors are: A unknown object with ID 34 is 33.8 meters away at (-10.6, 32.1). A vehicle with ID 35 is 35.8 meters away at (27.7, 22.7). A unknown object with ID 33 is 51.0 meters away at (-23.4, -45.3). A unknown object with ID 29 is 54.7 meters away at (-23.9, -49.2). A unknown object with ID 6 is 54.7 meters away at (-23.7, -49.3). A vehicle with ID 8 is 56.2 meters away at (-26.4, -49.7). A unknown object with ID 3 is 58.5 meters away at (-25.3, -52.8). A unknown object with ID 2 is 61.4 meters away at (-26.3, -55.5). A vehicle with ID 25 is 64.0 meters away at (-28.7, -57.2). A cyclist with ID 1 is 65.8 meters away at (-19.3, -62.9).

The unknown object with ID 34 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 [-4.1259007   0.05502805] 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 29 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 [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 2 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 cyclist with ID 1 is traveling at a (x, y) velocity of [-0.01017132  0.03016928] 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, -7.4) 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 unknown object with ID 33 is 37.4 meters away at (-21.6, -30.5). A unknown object with ID 24 is 38.7 meters away at (-25.0, -29.5). A unknown object with ID 29 is 40.8 meters away at (-22.2, -34.2). A unknown object with ID 6 is 40.9 meters away at (-22.0, -34.4). A vehicle with ID 35 is 43.8 meters away at (22.6, 37.6). A vehicle with ID 8 is 43.9 meters away at (-25.1, -36.1). A unknown object with ID 3 is 44.6 meters away at (-23.4, -38.0). A unknown object with ID 2 is 47.5 meters away at (-24.6, -40.6). A unknown object with ID 34 is 47.8 meters away at (-9.0, 47.0). A cyclist with ID 1 is 51.3 meters away at (-17.5, -48.2).

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.The unknown object with ID 29 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 35 is traveling at a (x, y) velocity of [-1.9385008   0.03444247] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.13810384 -0.36211988] 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.00886758 -0.0631167 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -6.7) m/s. Its current heading (yaw) is -1.79 radians with an angular velocity of -1.79 rad/s.

The most relevant actors are: A unknown object with ID 10 is 25.1 meters away at (-22.6, -10.9). A unknown object with ID 33 is 25.4 meters away at (-19.2, -16.6). A unknown object with ID 24 is 27.5 meters away at (-22.6, -15.6). A unknown object with ID 29 is 28.3 meters away at (-19.7, -20.2). A unknown object with ID 6 is 28.3 meters away at (-19.6, -20.5). A unknown object with ID 20 is 28.4 meters away at (-22.7, -17.0). A unknown object with ID 3 is 31.9 meters away at (-21.0, -24.1). A vehicle with ID 8 is 32.5 meters away at (-22.9, -23.1). A unknown object with ID 2 is 34.7 meters away at (-22.1, -26.7). A cyclist with ID 1 is 37.6 meters away at (-15.1, -34.4).

The unknown object with ID 10 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [0.04135723 0.01586723] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.7) m/s. Its current heading (yaw) is -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A pedestrian with ID 28 is 18.7 meters away at (-18.2, 4.3). A pedestrian with ID 26 is 30.2 meters away at (30.0, 3.0). A cyclist with ID 38 is 32.2 meters away at (30.0, -11.9). A vehicle with ID 39 is 35.2 meters away at (35.2, 1.5). A vehicle with ID 36 is 35.3 meters away at (-0.3, -35.3). A pedestrian with ID 34 is 39.1 meters away at (-37.0, -12.6). A vehicle with ID 19 is 42.5 meters away at (41.8, 7.7). A vehicle with ID 24 is 48.1 meters away at (46.7, 11.5). A pedestrian with ID 29 is 55.1 meters away at (-21.6, -50.7). A vehicle with ID 37 is 55.3 meters away at (-17.4, -52.5).

The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2096378  0.5805858] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.16999406 -1.7648727 ] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [-3.3830385  3.9983246] m/s.The vehicle with ID 39 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 [-7.3888326 -8.976248 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.362312   -0.22471146] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.97572505 1.162501  ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-8.123215 -9.720264] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, -3.8) m/s. Its current heading (yaw) is -0.96 radians with an angular velocity of -0.96 rad/s.

The most relevant actors are: A cyclist with ID 38 is 17.3 meters away at (16.9, 4.0). A pedestrian with ID 26 is 23.7 meters away at (22.9, 6.1). A vehicle with ID 39 is 28.0 meters away at (26.7, 8.6). A pedestrian with ID 28 is 31.8 meters away at (-29.3, 12.5). A vehicle with ID 19 is 36.5 meters away at (33.3, 14.9). A unknown object with ID 14 is 40.4 meters away at (33.9, 22.0). A vehicle with ID 18 is 42.4 meters away at (42.4, 1.4). A vehicle with ID 24 is 42.5 meters away at (38.2, 18.7). A pedestrian with ID 34 is 48.7 meters away at (-48.3, -6.2). A pedestrian with ID 29 is 49.9 meters away at (-27.6, -41.6).

The cyclist with ID 38 is traveling at a (x, y) velocity of [-2.0327172  4.6327224] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.618452  -1.4574186] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.448009    0.50622004] m/s.The vehicle with ID 19 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.5723244  -0.59002984] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.0611062 1.0824412] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -5.0) m/s. Its current heading (yaw) is -1.74 radians with an angular velocity of -1.74 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 25.6 meters away at (22.5, 12.2). A cyclist with ID 38 is 26.6 meters away at (14.8, 22.1). A unknown object with ID 17 is 29.4 meters away at (26.9, -12.0). A vehicle with ID 39 is 29.8 meters away at (24.1, 17.4). A cyclist with ID 25 is 32.5 meters away at (32.2, 4.4). A vehicle with ID 19 is 38.9 meters away at (30.8, 23.8). A pedestrian with ID 28 is 41.3 meters away at (-34.7, 22.4). A pedestrian with ID 29 is 41.7 meters away at (-28.0, -30.9). A unknown object with ID 14 is 44.0 meters away at (31.3, 30.9). A vehicle with ID 24 is 45.2 meters away at (35.8, 27.6).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.270944  -1.0842953] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [2.565051  3.5969033] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-5.015367   1.7035983] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.47221    0.5123056] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.85350806 1.0587059 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -4.0) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A pedestrian with ID 29 is 28.7 meters away at (-21.6, -19.0). A cyclist with ID 25 is 33.7 meters away at (29.0, 17.1). A pedestrian with ID 26 is 35.7 meters away at (30.5, 18.5). A vehicle with ID 39 is 39.5 meters away at (29.6, 26.2). A cyclist with ID 38 is 45.3 meters away at (29.2, 34.6). A pedestrian with ID 28 is 45.8 meters away at (-31.8, 32.9). A unknown object with ID 13 is 50.1 meters away at (31.0, 39.4). A cyclist with ID 4 is 50.8 meters away at (32.5, 39.0). A pedestrian with ID 34 is 53.1 meters away at (-51.7, 11.9). A unknown object with ID 14 is 54.2 meters away at (36.9, 39.6).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.7777339 1.457247 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-4.026437  2.409858] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.0860339 -1.1513836] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 38 is traveling at a (x, y) velocity of [5.047151 2.62014 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2067839  0.6880948] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [-4.357321 -3.510678] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.4259269   0.20344555] 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 (-1.8, 1.5) 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 11 is 12.5 meters away at (-9.3, 8.3). A vehicle with ID 56 is 22.0 meters away at (-16.8, 14.2). A vehicle with ID 62 is 22.9 meters away at (19.8, -11.5). A vehicle with ID 54 is 23.1 meters away at (-14.4, 18.0). A unknown object with ID 61 is 23.3 meters away at (-23.2, -1.0). A pedestrian with ID 63 is 26.3 meters away at (-16.6, 20.5). A vehicle with ID 59 is 33.5 meters away at (-32.5, -8.1). A vehicle with ID 65 is 35.4 meters away at (-26.9, 23.0). A vehicle with ID 60 is 37.5 meters away at (-35.8, -11.2). A vehicle with ID 55 is 39.2 meters away at (-27.0, 28.5).

The vehicle with ID 11 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.26594773 -1.5619202 ] m/s.The vehicle with ID 59 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 [-1.2623793  1.0493698] m/s.The vehicle with ID 60 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 0.7) 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 vehicle with ID 11 is 9.9 meters away at (-7.4, 6.6). A vehicle with ID 54 is 20.3 meters away at (-12.3, 16.2). A vehicle with ID 56 is 21.2 meters away at (-16.3, 13.7). A pedestrian with ID 63 is 21.4 meters away at (-14.1, 16.1). A vehicle with ID 62 is 25.6 meters away at (21.9, -13.3). A vehicle with ID 59 is 31.9 meters away at (-30.3, -9.9). A vehicle with ID 60 is 36.1 meters away at (-33.7, -13.0). A vehicle with ID 55 is 36.6 meters away at (-24.9, 26.8). A vehicle with ID 58 is 38.1 meters away at (-37.8, 5.2). A vehicle with ID 64 is 38.6 meters away at (-35.5, -15.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.32982233  0.28140053] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-1.6864378  1.3628068] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.8673196 -0.9354051] m/s.The vehicle with ID 62 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 60 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 58 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 11 is 11.5 meters away at (-8.6, 7.6). A pedestrian with ID 63 is 18.0 meters away at (-11.4, 13.9). A vehicle with ID 54 is 18.3 meters away at (-10.7, 14.9). A vehicle with ID 56 is 26.9 meters away at (-20.6, 17.3). A vehicle with ID 62 is 27.7 meters away at (23.5, -14.6). A vehicle with ID 59 is 30.9 meters away at (-28.7, -11.2). A vehicle with ID 55 is 34.4 meters away at (-23.4, 25.3). A vehicle with ID 60 is 35.2 meters away at (-32.1, -14.4). A vehicle with ID 58 is 36.4 meters away at (-36.2, 3.8). A vehicle with ID 64 is 37.7 meters away at (-33.9, -16.5).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4604397  2.0695128] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01341943 -0.08850352] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-3.7114615  3.1077282] m/s.The vehicle with ID 62 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 55 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.1) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A pedestrian with ID 63 is 13.7 meters away at (-7.8, 11.2). A vehicle with ID 54 is 14.0 meters away at (-7.2, 12.0). A vehicle with ID 11 is 16.1 meters away at (-12.1, 10.7). A vehicle with ID 46 is 24.6 meters away at (-21.7, 11.7). A unknown object with ID 37 is 28.9 meters away at (12.0, -26.3). A vehicle with ID 59 is 29.0 meters away at (-25.3, -14.1). A vehicle with ID 55 is 30.1 meters away at (-19.9, 22.5). A vehicle with ID 62 is 32.1 meters away at (27.0, -17.5). A vehicle with ID 58 is 32.7 meters away at (-32.7, 0.9). A vehicle with ID 56 is 33.0 meters away at (-25.2, 21.4).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.18978234  0.30837518] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.244579   3.6223223] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 8.255141  -6.3418646] m/s.The unknown object with ID 37 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 55 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 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 [-4.33794    3.6981351] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.8) m/s. Its current heading (yaw) is -0.47 radians with an angular velocity of -0.47 rad/s.

The most relevant actors are: A vehicle with ID 56 is 27.0 meters away at (-27.0, -1.6). A vehicle with ID 57 is 30.6 meters away at (-30.3, 3.7). A vehicle with ID 58 is 36.7 meters away at (-32.4, -17.2). A pedestrian with ID 63 is 44.0 meters away at (43.6, -5.9). A cyclist with ID 21 is 52.4 meters away at (47.9, -21.2). A vehicle with ID 59 is 54.8 meters away at (-46.4, 29.2). A vehicle with ID 60 is 57.6 meters away at (-40.0, 41.5). A vehicle with ID 62 is 63.7 meters away at (-40.4, 49.2). A vehicle with ID 30 is 66.7 meters away at (60.4, -28.2).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.5340447 -1.8016374] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01604771 -0.00392282] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [10.91301  -4.587443] m/s.The vehicle with ID 59 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 [-1.7795833 -4.770916 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.28597  -5.209826] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -3.8) m/s. Its current heading (yaw) is -0.43 radians with an angular velocity of -0.43 rad/s.

The most relevant actors are: A pedestrian with ID 63 is 28.0 meters away at (27.9, 1.7). A unknown object with ID 40 is 33.6 meters away at (33.5, 1.9). A vehicle with ID 56 is 42.3 meters away at (-42.0, 5.4). A vehicle with ID 57 is 47.1 meters away at (-45.8, 11.2). A vehicle with ID 29 is 50.4 meters away at (17.4, -47.3). A pedestrian with ID 45 is 54.2 meters away at (-39.6, 37.0). A vehicle with ID 58 is 57.2 meters away at (-55.5, -14.1). A cyclist with ID 21 is 58.8 meters away at (54.2, -22.8). A vehicle with ID 59 is 72.4 meters away at (-63.2, 35.4). A vehicle with ID 30 is 73.9 meters away at (67.3, -30.7).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02559746 -0.00394048] m/s.The unknown object with ID 40 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 57 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 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 [-2.8572454 -2.581559 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [11.004363 -4.781959] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-0.7934548 -1.0913005] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [11.56903  -5.219036] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.6, -3.7) 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 pedestrian with ID 63 is 14.5 meters away at (11.3, 9.2). A unknown object with ID 32 is 25.8 meters away at (19.6, -16.7). A vehicle with ID 29 is 39.8 meters away at (0.6, -39.8). A vehicle with ID 47 is 55.0 meters away at (-6.7, -54.5). A vehicle with ID 36 is 55.1 meters away at (-3.9, -55.0). A vehicle with ID 56 is 59.9 meters away at (-58.5, 13.0). A cyclist with ID 21 is 61.3 meters away at (56.5, -23.8). A vehicle with ID 52 is 78.6 meters away at (-72.6, 30.3).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.01322101 -0.01676784] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 8.640242  -3.7772188] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.8287063  -0.94600433] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, -3.7) 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 pedestrian with ID 63 is 17.4 meters away at (-5.7, 16.4). A vehicle with ID 48 is 17.5 meters away at (-14.5, -9.7). A vehicle with ID 29 is 36.4 meters away at (-16.3, -32.5). A pedestrian with ID 51 is 41.1 meters away at (18.5, -36.7). A vehicle with ID 36 is 52.1 meters away at (-21.0, -47.7). A cyclist with ID 21 is 57.5 meters away at (53.4, -21.3). A pedestrian with ID 5 is 58.3 meters away at (56.2, -15.6). A unknown object with ID 2 is 64.5 meters away at (61.3, -20.1). A unknown object with ID 3 is 66.6 meters away at (63.2, -20.9). A pedestrian with ID 4 is 69.3 meters away at (65.5, -22.8).

The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02709821 -0.04412749] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-10.982406   4.432151] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.6412807  0.5620797] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 6.0297103 -1.5478607] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.01725873 0.02610162] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.19610721  1.1135904 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -0.0) 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 unknown object with ID 1 is 13.5 meters away at (-2.1, 13.3). A vehicle with ID 22 is 22.0 meters away at (-13.2, 17.7). A unknown object with ID 21 is 37.5 meters away at (-24.4, 28.4). A pedestrian with ID 27 is 38.4 meters away at (-38.1, 4.5). A unknown object with ID 4 is 47.3 meters away at (-20.3, 42.7). A unknown object with ID 15 is 58.6 meters away at (58.0, 8.1). A cyclist with ID 25 is 68.2 meters away at (67.3, 11.2). A unknown object with ID 3 is 78.3 meters away at (-78.1, 5.2).

The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1951594  -0.66490006] 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [5.1924443 3.717156 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 40.1 meters away at (-39.9, 3.6).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1667084  -0.21555172] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A unknown object with ID 8 is 13.4 meters away at (-1.4, 13.4). A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 20 is 35.9 meters away at (-34.0, 11.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 42.5 meters away at (-42.3, 3.5).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1848893  -0.13345532] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A unknown object with ID 8 is 13.4 meters away at (-1.4, 13.3). A vehicle with ID 22 is 21.6 meters away at (-12.4, 17.7). A unknown object with ID 20 is 35.9 meters away at (-34.0, 11.7). A unknown object with ID 21 is 37.0 meters away at (-23.7, 28.4). A pedestrian with ID 27 is 44.8 meters away at (-44.7, 3.2). A vehicle with ID 17 is 75.6 meters away at (75.5, 4.3).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-1.1631289  -0.12536094] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-8.552015   -0.58238286] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.5) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A vehicle with ID 8 is 21.8 meters away at (-15.4, 15.5). A cyclist with ID 9 is 29.8 meters away at (-23.2, 18.7). A vehicle with ID 10 is 34.6 meters away at (9.8, -33.2). A vehicle with ID 15 is 34.9 meters away at (-5.7, -34.4). A cyclist with ID 12 is 47.9 meters away at (-44.3, 18.3). A cyclist with ID 13 is 48.3 meters away at (-43.1, 21.8).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [ 3.9407458 -3.9027243] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.6080694 -2.7799268] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [3.234488  4.2594175] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [0.10522334 0.331153  ] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 0.01961166 -0.066762  ] 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 -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A cyclist with ID 9 is 20.1 meters away at (-16.0, 12.1). A vehicle with ID 8 is 22.0 meters away at (-15.5, 15.6). A vehicle with ID 15 is 27.6 meters away at (-0.9, -27.6). A vehicle with ID 10 is 40.2 meters away at (3.1, -40.0). A unknown object with ID 3 is 40.3 meters away at (36.9, -16.3). A cyclist with ID 12 is 47.6 meters away at (-43.3, 19.8). A pedestrian with ID 4 is 49.7 meters away at (-46.4, 17.7).

The cyclist with ID 9 is traveling at a (x, y) velocity of [ 3.4106104 -2.615806 ] m/s.The vehicle with ID 8 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 [2.1517732 2.8804457] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.9526577 -3.9631214] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [0.76754373 0.3820275 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.4456373 -0.7987519] 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 -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A cyclist with ID 9 is 13.0 meters away at (-10.2, 8.1). A vehicle with ID 8 is 22.0 meters away at (-15.5, 15.6). A vehicle with ID 15 is 22.4 meters away at (3.8, -22.1). A pedestrian with ID 2 is 45.7 meters away at (-41.4, 19.3). A vehicle with ID 10 is 48.3 meters away at (-3.0, -48.2). A pedestrian with ID 4 is 51.1 meters away at (-48.3, 16.5).

The cyclist with ID 9 is traveling at a (x, y) velocity of [ 2.7835186 -2.2091596] m/s.The vehicle with ID 8 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 [3.36087   2.4191258] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.80742466 -0.6724568 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.2113547 -4.4733443] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-1.0444001 -0.2612487] 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 -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A cyclist with ID 9 is 7.6 meters away at (-6.2, 4.4). A vehicle with ID 8 is 22.0 meters away at (-15.6, 15.6). A vehicle with ID 15 is 24.0 meters away at (13.3, -20.0). A cyclist with ID 7 is 44.2 meters away at (-40.4, 17.9). A pedestrian with ID 4 is 52.5 meters away at (-50.0, 16.1). A vehicle with ID 10 is 58.6 meters away at (-9.9, -57.8).

The cyclist with ID 9 is traveling at a (x, y) velocity of [ 1.6227212 -1.4699163] m/s.The vehicle with ID 8 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 [ 6.232715  -0.7123739] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [ 0.82332045 -0.9206267 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.63862497 -0.23857296] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.4297066 -4.6634517] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -4.1) m/s. Its current heading (yaw) is -0.75 radians with an angular velocity of -0.75 rad/s.

The most relevant actors are: A unknown object with ID 30 is 7.4 meters away at (1.7, -7.2). A vehicle with ID 32 is 15.2 meters away at (14.6, -4.5). A unknown object with ID 29 is 18.9 meters away at (1.6, 18.8). A unknown object with ID 16 is 22.2 meters away at (-0.2, 22.2). A vehicle with ID 33 is 22.4 meters away at (20.5, -8.9). A pedestrian with ID 35 is 25.6 meters away at (22.1, -13.0). A pedestrian with ID 36 is 28.3 meters away at (25.3, -12.6). A vehicle with ID 28 is 31.8 meters away at (27.6, -15.7). A vehicle with ID 34 is 32.1 meters away at (-18.1, -26.5). A cyclist with ID 31 is 34.5 meters away at (-33.8, -7.0).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.94473314  0.814123  ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.24431872 -0.48907527] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.226551 -4.438476] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [-2.5552983 -1.8283464] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -5.0) m/s. Its current heading (yaw) is -0.73 radians with an angular velocity of -0.73 rad/s.

The most relevant actors are: A vehicle with ID 32 is 6.6 meters away at (4.7, 4.7). A unknown object with ID 30 is 8.4 meters away at (-8.2, 1.9). A vehicle with ID 33 is 10.5 meters away at (10.5, 0.3). A pedestrian with ID 35 is 10.8 meters away at (10.6, -2.1). A pedestrian with ID 36 is 15.7 meters away at (15.5, -2.6). A vehicle with ID 28 is 18.8 meters away at (17.7, -6.5). A unknown object with ID 26 is 22.5 meters away at (-7.4, 21.2). A unknown object with ID 9 is 27.0 meters away at (23.9, -12.5). A unknown object with ID 8 is 28.7 meters away at (25.3, -13.7). A pedestrian with ID 19 is 29.3 meters away at (-4.3, 29.0).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.81125927  0.62468165] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01360567 -0.00889979] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.02390441 -0.01560974] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.8) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A vehicle with ID 28 is 6.8 meters away at (5.3, 4.2). A pedestrian with ID 36 is 8.7 meters away at (3.1, 8.1). A pedestrian with ID 35 is 10.6 meters away at (-3.4, 10.0). A vehicle with ID 33 is 11.2 meters away at (-1.9, 11.0). A unknown object with ID 9 is 11.6 meters away at (11.5, -1.7). A unknown object with ID 8 is 13.2 meters away at (12.8, -2.9). A vehicle with ID 32 is 17.1 meters away at (-7.7, 15.3). A unknown object with ID 30 is 24.3 meters away at (-20.7, 12.6). A vehicle with ID 34 is 31.1 meters away at (-19.9, -23.9). A pedestrian with ID 41 is 49.7 meters away at (-49.4, -5.3).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.00266176 -0.01191956] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53122467  0.67341363] m/s.The vehicle with ID 33 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 vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 3.4279478 -3.0900524] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.0598918  -0.66863626] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -6.3) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A unknown object with ID 8 is 9.3 meters away at (-1.3, 9.2). A unknown object with ID 9 is 10.7 meters away at (-2.7, 10.4). A vehicle with ID 28 is 18.5 meters away at (-8.9, 16.3). A pedestrian with ID 36 is 23.1 meters away at (-11.2, 20.2). A vehicle with ID 33 is 28.2 meters away at (-16.1, 23.1). A pedestrian with ID 35 is 30.4 meters away at (-18.9, 23.8). A vehicle with ID 34 is 34.7 meters away at (-30.2, -17.2). A vehicle with ID 32 is 35.2 meters away at (-22.1, 27.4). A vehicle with ID 7 is 36.7 meters away at (-2.9, -36.6). A vehicle with ID 2 is 43.4 meters away at (37.0, -22.7).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.04429032 -0.01427967] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.5994289  0.6933525] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 0.81567824 -2.8949096 ] m/s.The vehicle with ID 32 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 7.4) m/s. Its current heading (yaw) is 1.28 radians with an angular velocity of 1.28 rad/s.

The most relevant actors are: A unknown object with ID 27 is 14.3 meters away at (-7.9, -11.9). A vehicle with ID 28 is 20.0 meters away at (9.9, 17.4). A vehicle with ID 9 is 29.5 meters away at (22.8, -18.8). A unknown object with ID 22 is 73.5 meters away at (27.3, 68.3).

The unknown object with ID 27 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 9 is traveling at a (x, y) velocity of [-9.140345   -0.60948956] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 8.1) m/s. Its current heading (yaw) is 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A vehicle with ID 28 is 5.6 meters away at (5.2, 2.1). A unknown object with ID 27 is 30.0 meters away at (-12.6, -27.3). A vehicle with ID 9 is 34.9 meters away at (4.1, -34.7).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.5106444   0.64235705] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.7) m/s. Its current heading (yaw) is 1.26 radians with an angular velocity of 1.26 rad/s.

The most relevant actors are: A vehicle with ID 28 is 13.6 meters away at (0.3, -13.6). A vehicle with ID 9 is 45.5 meters away at (-8.9, -44.6). A unknown object with ID 27 is 46.3 meters away at (-17.4, -42.9). A unknown object with ID 26 is 53.5 meters away at (-25.5, -47.1). A unknown object with ID 15 is 62.1 meters away at (32.8, 52.7).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-2.4006264  5.232909 ] 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.9) m/s. Its current heading (yaw) is 1.28 radians with an angular velocity of 1.28 rad/s.

The most relevant actors are: A vehicle with ID 28 is 28.3 meters away at (-4.2, -27.9). A pedestrian with ID 1 is 32.3 meters away at (20.0, 25.4). A vehicle with ID 9 is 47.9 meters away at (-13.5, -46.0). A unknown object with ID 27 is 61.3 meters away at (-21.9, -57.2). A pedestrian with ID 16 is 66.0 meters away at (-45.7, 47.7). A unknown object with ID 24 is 67.7 meters away at (-29.0, -61.1). A unknown object with ID 26 is 68.3 meters away at (-29.9, -61.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00721378  0.01181489] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.893257 8.380301] m/s.The unknown object with ID 27 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 [-0.69126713  0.16961077] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.6) m/s. Its current heading (yaw) is -2.05 radians with an angular velocity of -2.05 rad/s.

The most relevant actors are: A vehicle with ID 22 is 18.0 meters away at (-13.0, -12.4). A vehicle with ID 21 is 26.5 meters away at (-10.4, 24.4). A vehicle with ID 24 is 49.0 meters away at (32.5, -36.7). A pedestrian with ID 26 is 51.7 meters away at (31.8, -40.7). A pedestrian with ID 14 is 51.8 meters away at (32.6, -40.3). A vehicle with ID 23 is 53.0 meters away at (52.4, -7.8). A vehicle with ID 27 is 56.9 meters away at (39.9, -40.6). A vehicle with ID 25 is 59.3 meters away at (59.2, -3.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 3.883657  -1.3330694] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.7953512   0.41170517] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.82277846  0.38341135] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-8.925099   4.9053574] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.2) m/s. Its current heading (yaw) is -2.06 radians with an angular velocity of -2.06 rad/s.

The most relevant actors are: A vehicle with ID 22 is 12.5 meters away at (0.0, -12.5). A vehicle with ID 23 is 38.5 meters away at (38.1, 5.8). A vehicle with ID 24 is 47.4 meters away at (34.8, -32.2). A pedestrian with ID 14 is 48.5 meters away at (33.4, -35.1). A vehicle with ID 27 is 55.6 meters away at (42.2, -36.1). A vehicle with ID 25 is 61.6 meters away at (61.5, 0.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.6532226 -2.795406 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-7.489102  4.32719 ] m/s.The vehicle with ID 24 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 [-0.782792   0.5848729] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -2.2) m/s. Its current heading (yaw) is -2.43 radians with an angular velocity of -2.43 rad/s.

The most relevant actors are: A vehicle with ID 22 is 22.9 meters away at (17.6, -14.6). A unknown object with ID 18 is 29.2 meters away at (-2.2, 29.1). A vehicle with ID 23 is 32.5 meters away at (27.4, 17.4). A vehicle with ID 24 is 46.9 meters away at (38.0, -27.6). A vehicle with ID 27 is 55.3 meters away at (45.4, -31.5). A vehicle with ID 25 is 64.5 meters away at (64.3, 5.0).

The vehicle with ID 22 is traveling at a (x, y) velocity of [ 7.6370187 -3.4305112] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-6.04998    2.6168728] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [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, 0.9) m/s. Its current heading (yaw) is 2.92 radians with an angular velocity of 2.92 rad/s.

The most relevant actors are: A vehicle with ID 23 is 30.2 meters away at (23.1, 19.6). A vehicle with ID 22 is 44.0 meters away at (38.9, -20.6). A pedestrian with ID 16 is 48.2 meters away at (39.0, -28.3). A vehicle with ID 24 is 51.9 meters away at (44.5, -26.9). A vehicle with ID 27 is 60.3 meters away at (52.0, -30.6). A vehicle with ID 25 is 71.6 meters away at (71.3, 6.2).

The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.9670506 -1.7619555] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.9943004 -3.5946608] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.9264848   0.35894805] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.16359806 -0.27530107] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.15840244 -0.40147024] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.0) 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 92 is 3.6 meters away at (-1.8, 3.1). A vehicle with ID 94 is 4.7 meters away at (-4.4, -1.7). A vehicle with ID 87 is 9.6 meters away at (2.0, 9.4). A vehicle with ID 97 is 9.8 meters away at (-7.3, -6.5). A unknown object with ID 59 is 14.0 meters away at (-1.8, -13.9). A vehicle with ID 49 is 15.1 meters away at (-10.3, -11.0). A vehicle with ID 85 is 15.4 meters away at (5.6, 14.4). A unknown object with ID 75 is 17.9 meters away at (-3.9, -17.4). A vehicle with ID 86 is 20.7 meters away at (8.0, 19.1). A vehicle with ID 103 is 21.0 meters away at (-13.5, -16.1).

The vehicle with ID 92 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 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 unknown object with ID 75 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 103 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 (-4.2, -7.0) 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 49 is 3.6 meters away at (-1.6, 3.3). A vehicle with ID 103 is 5.2 meters away at (-4.8, -1.8). A unknown object with ID 75 is 5.9 meters away at (4.9, -3.3). A unknown object with ID 59 is 6.9 meters away at (6.9, 0.2). A vehicle with ID 97 is 7.8 meters away at (1.3, 7.6). A vehicle with ID 105 is 9.9 meters away at (-7.5, -6.6). A pedestrian with ID 45 is 12.5 meters away at (-11.0, -6.0). A vehicle with ID 94 is 13.1 meters away at (4.3, 12.4). A vehicle with ID 48 is 17.2 meters away at (-11.5, -12.7). A vehicle with ID 92 is 18.8 meters away at (7.0, 17.5).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5780601 -1.0966705] m/s.The vehicle with ID 94 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 92 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 (-3.9, -6.2) m/s. Its current heading (yaw) is -2.13 radians with an angular velocity of -2.13 rad/s.

The most relevant actors are: A vehicle with ID 48 is 3.3 meters away at (-3.3, 0.6). A pedestrian with ID 45 is 6.6 meters away at (-3.9, 5.3). A vehicle with ID 105 is 6.7 meters away at (0.7, 6.6). A vehicle with ID 47 is 8.0 meters away at (-6.5, -4.6). A vehicle with ID 103 is 12.0 meters away at (3.4, 11.5). A unknown object with ID 66 is 13.7 meters away at (-1.1, -13.6). A unknown object with ID 82 is 17.4 meters away at (-2.9, -17.1). A vehicle with ID 49 is 17.9 meters away at (6.7, 16.6). A vehicle with ID 97 is 23.3 meters away at (9.8, 21.2). A vehicle with ID 46 is 27.0 meters away at (-13.5, -23.4).

The vehicle with ID 48 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 [-0.5857389 -1.1860759] m/s.The vehicle with ID 105 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 103 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 unknown object with ID 82 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 97 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -4.9) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A vehicle with ID 47 is 6.7 meters away at (1.6, 6.5). A unknown object with ID 66 is 7.5 meters away at (7.1, -2.4). A unknown object with ID 82 is 7.9 meters away at (5.3, -5.8). A vehicle with ID 48 is 12.8 meters away at (4.9, 11.8). A vehicle with ID 46 is 13.3 meters away at (-5.4, -12.2). A pedestrian with ID 45 is 14.7 meters away at (3.1, 14.4). A vehicle with ID 105 is 19.9 meters away at (8.9, 17.8). A vehicle with ID 3 is 20.6 meters away at (-10.0, -18.0). A unknown object with ID 78 is 30.1 meters away at (21.2, 21.4). A vehicle with ID 1 is 30.3 meters away at (-14.2, -26.7).

The vehicle with ID 47 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 unknown object with ID 82 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.6262379 -1.0234898] m/s.The vehicle with ID 105 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 unknown object with ID 78 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 2.2) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 49 is 6.9 meters away at (-4.8, 5.0). A pedestrian with ID 22 is 8.7 meters away at (-2.6, 8.3). A pedestrian with ID 23 is 9.2 meters away at (-2.2, 8.9). A pedestrian with ID 50 is 10.6 meters away at (-8.7, -6.0). A pedestrian with ID 51 is 12.0 meters away at (-9.9, -6.7). A pedestrian with ID 54 is 12.5 meters away at (-10.6, -6.6). A vehicle with ID 59 is 16.0 meters away at (-14.0, 7.7). A vehicle with ID 64 is 20.2 meters away at (-20.2, -0.3). A vehicle with ID 56 is 20.9 meters away at (-7.7, -19.5). A vehicle with ID 65 is 22.6 meters away at (-20.2, 10.0).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1291627   0.46877733] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.1277539   0.46634802] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.00117787  0.00679424] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00470198  0.01666097] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.00085654 0.00733364] m/s.The vehicle with ID 59 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 56 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 59 is 3.2 meters away at (-0.6, 3.2). A vehicle with ID 64 is 8.5 meters away at (-6.9, -4.9). A vehicle with ID 49 is 8.5 meters away at (8.5, 0.4). A vehicle with ID 65 is 8.7 meters away at (-6.8, 5.5). A pedestrian with ID 22 is 9.6 meters away at (8.5, 4.5). A pedestrian with ID 23 is 10.2 meters away at (8.8, 5.2). A pedestrian with ID 54 is 11.5 meters away at (2.8, -11.2). A pedestrian with ID 50 is 11.5 meters away at (4.7, -10.5). A pedestrian with ID 51 is 11.7 meters away at (3.5, -11.2). A vehicle with ID 39 is 12.3 meters away at (-11.9, -3.1).

The vehicle with ID 59 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 49 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 pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1850399   0.43883207] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2068095   0.43836185] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01607177 -0.00057327] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02327274  0.00191747] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.01077195 -0.00832858] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 2.4) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 25 is 3.1 meters away at (1.1, 2.9). A vehicle with ID 78 is 4.0 meters away at (1.2, -3.9). A vehicle with ID 65 is 7.3 meters away at (7.2, 0.8). A vehicle with ID 40 is 7.4 meters away at (-4.9, -5.5). A vehicle with ID 15 is 7.4 meters away at (-5.2, 5.3). A vehicle with ID 39 is 8.1 meters away at (2.1, -7.8). A pedestrian with ID 21 is 10.1 meters away at (-4.2, 9.1). A pedestrian with ID 13 is 10.3 meters away at (-5.0, 9.0). A vehicle with ID 41 is 11.4 meters away at (-10.9, -3.5). A vehicle with ID 64 is 12.3 meters away at (7.5, -9.7).

The vehicle with ID 25 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 [ 1.7874361  -0.61986953] m/s.The vehicle with ID 65 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 15 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 21 is traveling at a (x, y) velocity of [-1.3766041   0.43879417] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.3858104   0.48681825] m/s.The vehicle with ID 41 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 2.6) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 38 is 4.6 meters away at (4.1, 2.1). A pedestrian with ID 20 is 7.6 meters away at (4.2, 6.3). A pedestrian with ID 13 is 8.4 meters away at (6.7, 5.1). A pedestrian with ID 21 is 9.2 meters away at (7.6, 5.1). A vehicle with ID 41 is 9.2 meters away at (3.7, -8.4). A vehicle with ID 15 is 9.2 meters away at (9.2, 0.4). A vehicle with ID 40 is 14.2 meters away at (9.6, -10.4). A vehicle with ID 25 is 15.8 meters away at (15.7, -2.1). A vehicle with ID 24 is 17.2 meters away at (-17.2, -0.7). A vehicle with ID 39 is 21.0 meters away at (16.7, -12.7).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.5158826   0.43871713] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.4891361   0.45825946] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-1.4600471  0.4727228] m/s.The vehicle with ID 41 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 40 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 24 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.6) m/s. Its current heading (yaw) is -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 5.5 meters away at (2.2, -5.0). A vehicle with ID 34 is 9.4 meters away at (5.8, -7.3). A unknown object with ID 32 is 10.8 meters away at (-2.5, -10.5). A unknown object with ID 31 is 13.5 meters away at (-9.0, -10.0). A unknown object with ID 29 is 14.7 meters away at (-11.5, -9.2). A unknown object with ID 28 is 17.1 meters away at (-15.3, -7.8). A unknown object with ID 25 is 17.9 meters away at (-17.5, -4.0). A vehicle with ID 35 is 18.0 meters away at (14.8, -10.3). A pedestrian with ID 33 is 18.2 meters away at (-17.3, -5.5). A vehicle with ID 38 is 26.1 meters away at (22.6, -13.1).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.78404355 -1.2238486 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.02049688 -0.00401448] 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 (-1.9, -0.5) m/s. Its current heading (yaw) is -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 6.4 meters away at (3.5, -5.3). A unknown object with ID 21 is 7.9 meters away at (-0.3, -7.9). A unknown object with ID 32 is 8.0 meters away at (0.0, -8.0). A vehicle with ID 34 is 9.6 meters away at (8.3, -4.9). A unknown object with ID 31 is 9.9 meters away at (-6.6, -7.5). A unknown object with ID 29 is 11.2 meters away at (-9.1, -6.6). A unknown object with ID 28 is 13.8 meters away at (-12.8, -5.2). A unknown object with ID 25 is 15.1 meters away at (-15.0, -1.4). A pedestrian with ID 33 is 15.1 meters away at (-14.8, -2.9). A vehicle with ID 35 is 18.9 meters away at (17.2, -7.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5473328 -1.4536115] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.0219705  -0.01316616] m/s.The vehicle with ID 35 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 (-2.0, 0.7) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A unknown object with ID 31 is 8.5 meters away at (-3.0, -7.9). A unknown object with ID 29 is 8.9 meters away at (-5.5, -7.0). A unknown object with ID 21 is 9.0 meters away at (3.4, -8.4). A unknown object with ID 32 is 9.2 meters away at (3.6, -8.5). A pedestrian with ID 26 is 10.5 meters away at (6.8, -8.0). A unknown object with ID 28 is 10.8 meters away at (-9.2, -5.6). A unknown object with ID 25 is 11.5 meters away at (-11.4, -1.8). A pedestrian with ID 33 is 11.7 meters away at (-11.2, -3.3). A vehicle with ID 34 is 13.1 meters away at (11.9, -5.3). A unknown object with ID 16 is 14.5 meters away at (-13.8, -4.5).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 26 is traveling at a (x, y) velocity of [ 0.5146082 -1.1679115] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.03248006 0.03450224] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 1.3) m/s. Its current heading (yaw) is 2.78 radians with an angular velocity of 2.78 rad/s.

The most relevant actors are: A unknown object with ID 25 is 7.0 meters away at (-5.9, -3.8). A unknown object with ID 28 is 8.5 meters away at (-3.7, -7.7). A unknown object with ID 29 is 9.1 meters away at (0.0, -9.1). A unknown object with ID 31 is 10.3 meters away at (2.5, -10.0). A unknown object with ID 21 is 13.7 meters away at (8.9, -10.5). A unknown object with ID 32 is 14.0 meters away at (9.2, -10.6). A pedestrian with ID 26 is 18.5 meters away at (14.5, -11.6). A vehicle with ID 34 is 18.9 meters away at (17.4, -7.4). A vehicle with ID 15 is 22.0 meters away at (22.0, 0.9). A vehicle with ID 35 is 28.5 meters away at (26.4, -10.5).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 26 is traveling at a (x, y) velocity of [ 1.2273132  -0.38406602] m/s.The vehicle with ID 34 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 35 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 (-6.9, 4.7) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A unknown object with ID 46 is 4.7 meters away at (-4.4, -1.7). A unknown object with ID 47 is 6.2 meters away at (-5.3, -3.1). A unknown object with ID 48 is 6.2 meters away at (-6.1, -0.7). A unknown object with ID 49 is 7.3 meters away at (-6.9, -2.3). A vehicle with ID 50 is 12.8 meters away at (-4.0, 12.1). A pedestrian with ID 51 is 16.8 meters away at (-4.8, 16.1). A pedestrian with ID 52 is 17.2 meters away at (-5.6, 16.3). A pedestrian with ID 53 is 24.5 meters away at (-13.7, 20.3). A pedestrian with ID 21 is 34.3 meters away at (-16.9, 29.9). A pedestrian with ID 34 is 36.9 meters away at (-20.2, 30.9).

The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01854591  0.01218096] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00517309  0.00599616] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.06419028  0.06158848] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.46048653  1.24196   ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.01194923 -0.01230617] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 4.9) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 50 is 10.4 meters away at (10.1, 2.7). A pedestrian with ID 52 is 10.6 meters away at (8.3, 6.5). A pedestrian with ID 53 is 10.8 meters away at (0.5, 10.8). A pedestrian with ID 51 is 11.4 meters away at (9.4, 6.5). A unknown object with ID 48 is 13.0 meters away at (8.0, -10.2). A unknown object with ID 27 is 13.8 meters away at (7.8, -11.3). A unknown object with ID 49 is 13.9 meters away at (7.2, -11.9). A unknown object with ID 46 is 14.9 meters away at (9.8, -11.2). A vehicle with ID 54 is 15.3 meters away at (-7.2, 13.6). A unknown object with ID 47 is 15.5 meters away at (9.0, -12.6).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.2859511  -0.22355717] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.02191312 -0.00280324] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.06715142 -0.01643334] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 3.1223834 -2.1557777] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.