The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.0) m/s. Its current heading (yaw) is -3.06 radians with an angular velocity of -3.06 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 9.0 meters away at (-5.3, -7.3). A pedestrian with ID 13 is 12.2 meters away at (2.4, 12.0). A vehicle with ID 15 is 20.8 meters away at (-8.4, 19.1). A vehicle with ID 14 is 21.0 meters away at (-8.3, 19.3). A unknown object with ID 24 is 31.2 meters away at (-25.1, 18.5). A unknown object with ID 25 is 31.8 meters away at (-24.4, 20.3). A unknown object with ID 26 is 32.2 meters away at (-26.9, 17.8). A unknown object with ID 27 is 32.6 meters away at (-23.0, 23.0). A unknown object with ID 19 is 32.6 meters away at (-27.8, 16.9). A unknown object with ID 28 is 32.7 meters away at (-24.3, 22.0).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.1233411  0.08729418] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00094919 -0.00931611] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 19 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.

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 -3.06 radians with an angular velocity of -3.06 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 12.2 meters away at (2.6, 11.9). A vehicle with ID 15 is 20.8 meters away at (-8.2, 19.1). A vehicle with ID 14 is 20.9 meters away at (-8.2, 19.3). A unknown object with ID 24 is 31.0 meters away at (-24.9, 18.5). A unknown object with ID 25 is 31.6 meters away at (-24.2, 20.3). A unknown object with ID 26 is 32.0 meters away at (-26.7, 17.8). A unknown object with ID 17 is 32.2 meters away at (-23.3, 22.2). A unknown object with ID 27 is 32.4 meters away at (-22.8, 23.0). A unknown object with ID 19 is 32.5 meters away at (-27.7, 17.0). A unknown object with ID 28 is 32.5 meters away at (-23.9, 22.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00998418 -0.00199268] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 -3.06 radians with an angular velocity of -3.06 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 12.2 meters away at (2.6, 11.9). A vehicle with ID 15 is 20.8 meters away at (-8.1, 19.1). A vehicle with ID 14 is 20.9 meters away at (-8.1, 19.2). A unknown object with ID 24 is 31.0 meters away at (-25.0, 18.5). A unknown object with ID 25 is 31.6 meters away at (-24.2, 20.3). A unknown object with ID 26 is 32.0 meters away at (-26.7, 17.8). A unknown object with ID 17 is 32.2 meters away at (-23.3, 22.2). A unknown object with ID 27 is 32.4 meters away at (-22.8, 23.1). A unknown object with ID 28 is 32.4 meters away at (-23.8, 22.0). A unknown object with ID 19 is 32.5 meters away at (-27.7, 17.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00077673  0.00109692] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -3.06 radians with an angular velocity of -3.06 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 12.2 meters away at (2.6, 11.9). A vehicle with ID 15 is 20.6 meters away at (-8.3, 18.8). A unknown object with ID 24 is 31.0 meters away at (-24.9, 18.5). A unknown object with ID 25 is 31.6 meters away at (-24.2, 20.3). A unknown object with ID 26 is 32.0 meters away at (-26.7, 17.8). A unknown object with ID 17 is 32.2 meters away at (-23.3, 22.2). A unknown object with ID 27 is 32.4 meters away at (-22.8, 23.1). A unknown object with ID 28 is 32.4 meters away at (-23.8, 22.0). A unknown object with ID 19 is 32.5 meters away at (-27.7, 17.0). A unknown object with ID 29 is 33.5 meters away at (-22.2, 25.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00171661 -0.00052578] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.28965706 -0.61592174] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -6.0) 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 vehicle with ID 18 is 51.7 meters away at (-13.4, -49.9). A pedestrian with ID 25 is 73.4 meters away at (-7.8, 73.0). A pedestrian with ID 24 is 74.0 meters away at (-4.9, 73.9). A pedestrian with ID 27 is 76.2 meters away at (-9.1, 75.6). A pedestrian with ID 28 is 76.6 meters away at (-7.6, 76.2). A pedestrian with ID 30 is 76.7 meters away at (-8.6, 76.3). A pedestrian with ID 31 is 77.0 meters away at (-9.0, 76.5).

The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.1029506 10.061947 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.17539306 -0.5614349 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.9609373  0.26232493] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02179493 -0.012276  ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.05399048 -0.00495367] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.01406845 -0.10785252] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.22507071 -0.03327311] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -5.8) 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 vehicle with ID 18 is 19.3 meters away at (-6.4, -18.2). A unknown object with ID 8 is 56.7 meters away at (-5.8, 56.4). A unknown object with ID 9 is 68.5 meters away at (-6.0, 68.3).

The vehicle with ID 18 is traveling at a (x, y) velocity of [2.4451642 9.661061 ] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 (-1.1, -5.7) m/s. Its current heading (yaw) is -1.76 radians with an angular velocity of -1.76 rad/s.

The most relevant actors are: A vehicle with ID 18 is 11.7 meters away at (-0.7, 11.6). A unknown object with ID 15 is 69.0 meters away at (-12.7, 67.8). A unknown object with ID 9 is 79.6 meters away at (-4.2, 79.5).

The vehicle with ID 18 is traveling at a (x, y) velocity of [1.4812148 9.060275 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 (-1.6, -6.0) m/s. Its current heading (yaw) is -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A vehicle with ID 18 is 41.2 meters away at (4.3, 41.0). A pedestrian with ID 7 is 70.1 meters away at (-37.6, -59.2). A unknown object with ID 15 is 80.1 meters away at (-10.0, 79.5).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0.98628926 8.897936  ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1529566  0.6600314] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.1) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A vehicle with ID 8 is 16.7 meters away at (0.1, -16.7). A vehicle with ID 38 is 21.9 meters away at (-4.2, -21.5). A vehicle with ID 39 is 22.5 meters away at (9.7, -20.3). A vehicle with ID 2 is 26.4 meters away at (5.1, -25.9). A vehicle with ID 4 is 27.9 meters away at (-8.6, -26.6). A vehicle with ID 45 is 36.5 meters away at (-3.5, -36.3). A vehicle with ID 46 is 38.7 meters away at (30.4, -24.0). A vehicle with ID 48 is 42.7 meters away at (11.5, 41.1). A vehicle with ID 50 is 45.5 meters away at (5.2, 45.2). A pedestrian with ID 52 is 49.2 meters away at (-44.2, 21.5).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 [-0.23796183  0.20009904] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 52 is traveling at a (x, y) velocity of [-0.01682046 -0.00163664] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -1.7) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A vehicle with ID 8 is 14.8 meters away at (-2.8, -14.6). A pedestrian with ID 3 is 15.9 meters away at (-7.8, -13.9). A pedestrian with ID 26 is 18.6 meters away at (-7.6, -16.9). A vehicle with ID 39 is 19.5 meters away at (6.7, -18.3). A vehicle with ID 38 is 20.7 meters away at (-7.2, -19.4). A vehicle with ID 2 is 24.0 meters away at (2.1, -23.9). A vehicle with ID 4 is 27.1 meters away at (-11.5, -24.5). A vehicle with ID 5 is 29.5 meters away at (-2.3, -29.4). A vehicle with ID 28 is 32.4 meters away at (-12.5, -29.9). A vehicle with ID 46 is 34.5 meters away at (27.0, -21.5).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.06391182 0.048066  ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00667189  0.00087708] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.1196884 -1.4994861] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.5) m/s. Its current heading (yaw) is -1.08 radians with an angular velocity of -1.08 rad/s.

The most relevant actors are: A vehicle with ID 8 is 12.5 meters away at (-6.8, -10.6). A vehicle with ID 39 is 14.2 meters away at (2.9, -13.9). A pedestrian with ID 3 is 15.2 meters away at (-11.8, -9.6). A pedestrian with ID 26 is 17.3 meters away at (-11.5, -12.9). A vehicle with ID 38 is 19.2 meters away at (-11.2, -15.5). A vehicle with ID 2 is 19.9 meters away at (-1.9, -19.8). A vehicle with ID 4 is 25.7 meters away at (-15.5, -20.6). A vehicle with ID 5 is 26.1 meters away at (-6.2, -25.4). A vehicle with ID 46 is 28.6 meters away at (22.8, -17.3). A vehicle with ID 45 is 32.0 meters away at (-10.2, -30.3).

The vehicle with ID 8 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 3 is traveling at a (x, y) velocity of [ 0.01642042 -0.09918246] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.03609271 -0.01573262] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -3.0) 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 39 is 8.5 meters away at (2.6, -8.1). A vehicle with ID 8 is 8.7 meters away at (-7.2, -4.9). A pedestrian with ID 3 is 12.9 meters away at (-12.2, -4.1). A vehicle with ID 2 is 14.5 meters away at (-2.4, -14.3). A vehicle with ID 38 is 15.3 meters away at (-11.5, -10.0). A vehicle with ID 5 is 20.9 meters away at (-6.7, -19.8). A vehicle with ID 4 is 21.8 meters away at (-15.8, -15.1). A vehicle with ID 46 is 24.5 meters away at (21.9, -11.1). A vehicle with ID 45 is 26.9 meters away at (-10.7, -24.6). A vehicle with ID 6 is 31.7 meters away at (-22.1, -22.8).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.09586503  0.00118984] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.50 radians with an angular velocity of 2.50 rad/s.

The most relevant actors are: A vehicle with ID 28 is 12.1 meters away at (9.5, -7.5). A vehicle with ID 55 is 22.4 meters away at (17.2, -14.3). A unknown object with ID 47 is 37.2 meters away at (-36.8, 5.7). A pedestrian with ID 36 is 37.3 meters away at (-36.9, 5.8). A vehicle with ID 54 is 39.8 meters away at (-39.5, 4.9). A vehicle with ID 59 is 48.0 meters away at (-32.5, 35.3). A unknown object with ID 60 is 49.4 meters away at (-48.4, -10.2). A vehicle with ID 56 is 53.5 meters away at (-52.2, -12.0).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 [ 0.02752255 -0.06528814] m/s.The vehicle with ID 54 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 unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.7) m/s. Its current heading (yaw) is 2.51 radians with an angular velocity of 2.51 rad/s.

The most relevant actors are: A vehicle with ID 28 is 12.8 meters away at (10.1, -7.9). A vehicle with ID 55 is 23.0 meters away at (17.7, -14.7). A pedestrian with ID 36 is 37.1 meters away at (-36.9, 4.3). A vehicle with ID 54 is 39.1 meters away at (-38.8, 4.5). A vehicle with ID 59 is 47.2 meters away at (-31.9, 34.8). A unknown object with ID 60 is 48.9 meters away at (-47.7, -10.8). A vehicle with ID 56 is 53.3 meters away at (-51.8, -12.7).

The vehicle with ID 28 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 pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.43549716 -0.5723483 ] m/s.The vehicle with ID 54 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 unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 1.6) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A vehicle with ID 28 is 15.7 meters away at (12.6, -9.5). A vehicle with ID 55 is 28.0 meters away at (21.8, -17.6). A vehicle with ID 54 is 34.6 meters away at (-34.6, 1.9). A vehicle with ID 59 is 41.5 meters away at (-27.0, 31.6). A vehicle with ID 56 is 50.4 meters away at (-47.9, -15.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.7523074  1.3115937] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 0.68033135 -0.56108636] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -0.1) m/s. Its current heading (yaw) is -3.13 radians with an angular velocity of -3.13 rad/s.

The most relevant actors are: A vehicle with ID 28 is 18.2 meters away at (16.1, -8.4). A vehicle with ID 54 is 26.8 meters away at (-26.8, -0.2). A pedestrian with ID 8 is 29.0 meters away at (-28.7, -4.4). A unknown object with ID 3 is 32.4 meters away at (-21.4, -24.3). A vehicle with ID 59 is 32.8 meters away at (-17.3, 27.9). A unknown object with ID 14 is 33.2 meters away at (-32.8, -5.4). A unknown object with ID 12 is 34.6 meters away at (-33.9, -6.9). A vehicle with ID 55 is 34.9 meters away at (29.1, -19.3). A unknown object with ID 2 is 36.4 meters away at (-23.7, -27.7). A unknown object with ID 10 is 36.7 meters away at (-35.6, -9.0).

The vehicle with ID 28 is traveling at a (x, y) velocity of [-2.7097304  2.1022248] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.1766173  -0.71028405] m/s.The unknown object with ID 3 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 [ 1.3217072 -1.2058542] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 [-0.8281053   0.72355545] 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 10 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, 2.6) m/s. Its current heading (yaw) is 2.34 radians with an angular velocity of 2.34 rad/s.

The most relevant actors are: A unknown object with ID 6 is 20.7 meters away at (-4.0, 20.3). A unknown object with ID 7 is 21.4 meters away at (-3.8, 21.1). A unknown object with ID 8 is 21.5 meters away at (-5.1, 20.9). A unknown object with ID 9 is 22.3 meters away at (-4.8, 21.8). A vehicle with ID 10 is 22.7 meters away at (6.6, -21.8). A vehicle with ID 12 is 30.6 meters away at (6.4, 29.9). A pedestrian with ID 11 is 57.9 meters away at (-55.8, 15.4).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.0237377  8.388964 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ -0.5712436 -11.416892 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3541753  0.08768287] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 0.6) m/s. Its current heading (yaw) is 2.97 radians with an angular velocity of 2.97 rad/s.

The most relevant actors are: A vehicle with ID 10 is 11.2 meters away at (9.1, -6.5). A vehicle with ID 12 is 12.5 meters away at (12.1, 3.3). A unknown object with ID 6 is 17.1 meters away at (1.8, 17.0). A unknown object with ID 8 is 17.7 meters away at (0.8, 17.7). A unknown object with ID 7 is 17.9 meters away at (2.1, 17.8). A unknown object with ID 9 is 18.6 meters away at (1.0, 18.5). A pedestrian with ID 11 is 48.7 meters away at (-47.3, 11.5).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.1184615 10.3102455] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  0.4870989 -11.871106 ] 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.3607951  -0.45483136] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -0.6) m/s. Its current heading (yaw) is -2.99 radians with an angular velocity of -2.99 rad/s.

The most relevant actors are: A unknown object with ID 6 is 19.4 meters away at (8.8, 17.3). A unknown object with ID 8 is 19.5 meters away at (7.8, 17.9). A unknown object with ID 7 is 20.2 meters away at (9.1, 18.1). A unknown object with ID 9 is 20.4 meters away at (8.0, 18.8). A vehicle with ID 10 is 22.3 meters away at (15.2, 16.3). A vehicle with ID 12 is 29.5 meters away at (21.9, -19.7). A pedestrian with ID 11 is 39.0 meters away at (-37.4, 10.9). A vehicle with ID 4 is 66.4 meters away at (23.2, 62.2).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.02804132 11.81297   ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [  2.3139307 -11.256192 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.4281538  0.01425454] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.8898242 -7.640494 ] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A unknown object with ID 8 is 25.3 meters away at (16.1, 19.5). A unknown object with ID 6 is 25.5 meters away at (17.2, 18.8). A unknown object with ID 9 is 26.1 meters away at (16.4, 20.3). A unknown object with ID 7 is 26.3 meters away at (17.5, 19.6). A pedestrian with ID 11 is 29.2 meters away at (-26.4, 12.5). A vehicle with ID 10 is 48.4 meters away at (24.6, 41.7). A vehicle with ID 4 is 56.2 meters away at (28.6, 48.3).

The unknown object with ID 8 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3545961  0.04194995] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.79416585 11.822633  ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.8776453 -7.5623326] 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, 2.2) m/s. Its current heading (yaw) is 1.37 radians with an angular velocity of 1.37 rad/s.

The most relevant actors are: A pedestrian with ID 79 is 5.0 meters away at (-5.0, 0.8). A pedestrian with ID 80 is 5.6 meters away at (-5.6, 0.6). A cyclist with ID 75 is 12.6 meters away at (-3.1, -12.2). A pedestrian with ID 77 is 15.4 meters away at (14.4, -5.4). A pedestrian with ID 78 is 15.7 meters away at (14.5, -6.2). A vehicle with ID 45 is 16.6 meters away at (16.2, 3.5). A unknown object with ID 61 is 47.0 meters away at (46.7, -5.3). A unknown object with ID 73 is 47.2 meters away at (47.1, -3.5). A unknown object with ID 71 is 47.8 meters away at (47.3, -6.7). A unknown object with ID 72 is 49.7 meters away at (49.1, -7.7).

The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.16265866  0.8436655 ] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.10603485  0.79819274] m/s.The cyclist with ID 75 is traveling at a (x, y) velocity of [0.11132367 0.01812558] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00064439 0.03059122] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [0.01740426 0.01899405] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 8.974689  -3.5236158] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 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 (2.3, 1.7) m/s. Its current heading (yaw) is 0.64 radians with an angular velocity of 0.64 rad/s.

The most relevant actors are: A pedestrian with ID 79 is 8.1 meters away at (-7.8, -2.3). A pedestrian with ID 80 is 8.7 meters away at (-8.3, -2.6). A pedestrian with ID 65 is 11.3 meters away at (9.1, 6.6). A pedestrian with ID 77 is 15.2 meters away at (11.8, -9.6). A pedestrian with ID 78 is 16.0 meters away at (11.9, -10.6). A vehicle with ID 45 is 32.3 meters away at (31.3, -8.1). A unknown object with ID 61 is 45.0 meters away at (44.1, -9.2). A unknown object with ID 73 is 45.2 meters away at (44.5, -7.8). A unknown object with ID 71 is 46.1 meters away at (44.9, -10.5). A unknown object with ID 54 is 46.9 meters away at (46.4, -6.9).

The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.13604242  0.64168817] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.12685737  0.63137066] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.30502352 0.24126425] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.00419657 0.00498361] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.01211492 -0.00295774] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ 8.217056 -3.628457] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -0.3) m/s. Its current heading (yaw) is -0.09 radians with an angular velocity of -0.09 rad/s.

The most relevant actors are: A pedestrian with ID 77 is 12.8 meters away at (5.9, -11.3). A pedestrian with ID 78 is 13.8 meters away at (6.0, -12.4). A pedestrian with ID 79 is 14.5 meters away at (-14.2, -2.7). A pedestrian with ID 80 is 15.0 meters away at (-14.6, -3.4). A unknown object with ID 73 is 39.8 meters away at (38.6, -9.5). A unknown object with ID 61 is 39.9 meters away at (38.3, -11.3). A unknown object with ID 63 is 40.2 meters away at (39.3, -8.2). A unknown object with ID 71 is 40.7 meters away at (38.7, -12.5). A unknown object with ID 54 is 41.2 meters away at (40.2, -8.6). A unknown object with ID 53 is 42.8 meters away at (40.6, -13.6).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.01325039 0.01143082] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [9.5990868e-03 1.3901308e-06] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.4574436   0.59851277] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.42904782  0.5714173 ] m/s.The unknown object with ID 73 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 unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -1.6) m/s. Its current heading (yaw) is -0.36 radians with an angular velocity of -0.36 rad/s.

The most relevant actors are: A pedestrian with ID 77 is 9.3 meters away at (-1.6, -9.1). A pedestrian with ID 78 is 10.2 meters away at (-1.0, -10.2). A pedestrian with ID 79 is 22.6 meters away at (-22.5, 0.6). A pedestrian with ID 80 is 22.9 meters away at (-22.9, -0.1). A unknown object with ID 2 is 31.9 meters away at (30.4, -9.5). A unknown object with ID 73 is 31.9 meters away at (31.0, -7.6). A unknown object with ID 63 is 32.4 meters away at (31.8, -6.2). A unknown object with ID 71 is 32.9 meters away at (31.1, -10.6). A unknown object with ID 53 is 34.9 meters away at (32.9, -11.6). A unknown object with ID 72 is 35.0 meters away at (33.0, -11.6).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [-0.00998965 -0.00142165] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 0.03764309 -0.03423561] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.39766625  0.49794066] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.385858   0.5453476] 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 21 is 4.2 meters away at (4.0, 1.0). A vehicle with ID 19 is 13.5 meters away at (-9.9, -9.2). A vehicle with ID 23 is 15.0 meters away at (-11.5, 9.6). A vehicle with ID 18 is 18.2 meters away at (-5.8, -17.2). A pedestrian with ID 31 is 19.5 meters away at (-0.7, 19.5). A vehicle with ID 20 is 22.0 meters away at (22.0, 0.5). A vehicle with ID 33 is 22.2 meters away at (-20.6, -8.1). A vehicle with ID 35 is 23.3 meters away at (-23.2, -2.5). A pedestrian with ID 45 is 25.9 meters away at (-6.7, 25.0). A pedestrian with ID 41 is 25.9 meters away at (-5.8, 25.3).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 0.03623731 -9.504366  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.4463973 -6.9419303] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.2339269 -9.407464 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0379559  -0.74268866] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 3.9767613 -3.3287077] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0276788  0.915548 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.1030644  0.8576005] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 21 is 4.2 meters away at (4.2, 0.9). A vehicle with ID 23 is 11.4 meters away at (-7.6, -8.5). A pedestrian with ID 31 is 17.9 meters away at (1.5, 17.8). A vehicle with ID 29 is 19.8 meters away at (-13.6, 14.4). A vehicle with ID 33 is 22.1 meters away at (-20.5, -8.2). A vehicle with ID 35 is 23.2 meters away at (-23.0, -2.6). A vehicle with ID 42 is 25.7 meters away at (12.8, 22.3). A vehicle with ID 40 is 26.6 meters away at (-24.6, -10.3). A pedestrian with ID 38 is 27.0 meters away at (-8.6, 25.6). A pedestrian with ID 45 is 28.1 meters away at (-8.5, 26.8).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [  1.0414407 -11.02106  ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0246872 -0.8027989] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 3.6029665 -6.225966 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.0831074  -0.94880515] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0157912   0.92726254] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 21 is 3.8 meters away at (3.5, 1.5). A vehicle with ID 29 is 8.4 meters away at (-8.1, -2.1). A pedestrian with ID 31 is 16.5 meters away at (3.6, 16.1). A vehicle with ID 33 is 22.1 meters away at (-20.5, -8.3). A vehicle with ID 37 is 22.6 meters away at (-15.3, 16.7). A vehicle with ID 35 is 23.2 meters away at (-23.0, -2.6). A pedestrian with ID 38 is 24.7 meters away at (-6.1, 24.0). A vehicle with ID 42 is 25.6 meters away at (12.8, 22.2). A vehicle with ID 40 is 26.6 meters away at (-24.5, -10.3). A vehicle with ID 48 is 29.5 meters away at (-24.5, -16.5).

The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.5020543  0.5026228] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 1.4138044 -9.80661  ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9810889 -0.9025386] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 3.705769  -5.1376176] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2285804  -0.79225856] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-1.4891698  1.5678399] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 21 is 3.7 meters away at (2.8, 2.3). A vehicle with ID 37 is 9.2 meters away at (-8.6, 3.0). A pedestrian with ID 31 is 15.4 meters away at (5.7, 14.3). A unknown object with ID 3 is 19.9 meters away at (19.7, 2.8). A pedestrian with ID 5 is 19.9 meters away at (19.7, 2.8). A vehicle with ID 33 is 22.1 meters away at (-20.5, -8.3). A pedestrian with ID 38 is 22.7 meters away at (-3.7, 22.4). A vehicle with ID 35 is 23.2 meters away at (-23.0, -2.6). A pedestrian with ID 7 is 25.0 meters away at (18.3, 17.0). A vehicle with ID 29 is 25.1 meters away at (-8.5, -23.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ 2.5262008 -8.917931 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1188955 -0.9782037] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.00423629 -0.02299458] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1754944 -0.9400776] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -1.4508328 -11.544516 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 5.0) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A vehicle with ID 123 is 10.3 meters away at (-10.2, 1.3). A vehicle with ID 102 is 10.3 meters away at (9.7, -3.5). A unknown object with ID 81 is 11.3 meters away at (-10.8, -3.2). A unknown object with ID 66 is 11.3 meters away at (11.3, 0.7). A pedestrian with ID 111 is 13.0 meters away at (-8.6, -9.8). A pedestrian with ID 112 is 13.6 meters away at (-8.7, -10.5). A vehicle with ID 109 is 16.1 meters away at (6.8, -14.6). A vehicle with ID 106 is 17.1 meters away at (3.2, -16.8). A unknown object with ID 104 is 18.9 meters away at (6.1, -17.9). A unknown object with ID 105 is 20.6 meters away at (7.4, -19.2).

The vehicle with ID 123 is traveling at a (x, y) velocity of [ 5.8764796 -5.341152 ] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.46474046  0.21357183] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.16084886 -0.00570018] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [ 4.7815366 -4.6935196] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.2) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 101 is 7.3 meters away at (-1.2, 7.2). A unknown object with ID 42 is 10.5 meters away at (-3.5, -9.9). A vehicle with ID 119 is 10.8 meters away at (-9.3, -5.4). A vehicle with ID 98 is 11.9 meters away at (-5.2, 10.8). A vehicle with ID 121 is 12.4 meters away at (-12.1, -2.7). A unknown object with ID 126 is 14.1 meters away at (-14.0, 1.7). A unknown object with ID 62 is 17.7 meters away at (-17.1, 4.5). A pedestrian with ID 111 is 20.2 meters away at (2.3, -20.1). A pedestrian with ID 112 is 21.0 meters away at (2.8, -20.8). A unknown object with ID 78 is 21.5 meters away at (-20.2, 7.5).

The vehicle with ID 101 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 vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.03621864 -0.0047283 ] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [-0.01764305 -0.02019616] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.1) 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 98 is 6.4 meters away at (6.4, 0.6). A unknown object with ID 62 is 7.9 meters away at (-5.5, -5.7). A unknown object with ID 126 is 8.8 meters away at (-2.4, -8.5). A unknown object with ID 78 is 9.0 meters away at (-8.6, -2.7). A vehicle with ID 97 is 10.0 meters away at (-3.2, 9.5). A vehicle with ID 101 is 10.8 meters away at (10.4, -3.0). A unknown object with ID 74 is 11.6 meters away at (-11.6, 0.2). A vehicle with ID 121 is 12.9 meters away at (-0.6, -12.8). A unknown object with ID 30 is 15.1 meters away at (-14.8, 3.0). A vehicle with ID 99 is 15.5 meters away at (-7.7, 13.4).

The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 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 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 121 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 99 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 (-5.0, 4.4) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 99 is 4.9 meters away at (3.5, 3.4). A vehicle with ID 100 is 7.3 meters away at (-0.8, 7.3). A pedestrian with ID 57 is 7.5 meters away at (2.4, 7.1). A unknown object with ID 30 is 7.9 meters away at (-3.5, -7.1). A vehicle with ID 97 is 7.9 meters away at (7.9, -0.4). A pedestrian with ID 13 is 8.3 meters away at (2.1, 8.0). A pedestrian with ID 7 is 10.0 meters away at (2.6, 9.6). A unknown object with ID 74 is 10.0 meters away at (-0.3, -10.0). A unknown object with ID 67 is 10.4 meters away at (-4.5, 9.4). A vehicle with ID 17 is 11.4 meters away at (-11.2, -2.2).

The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.00241003  0.05267366] m/s.The unknown object with ID 30 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.04904612  0.01563878] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.9867726  0.849029 ] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.1) m/s. Its current heading (yaw) is -2.24 radians with an angular velocity of -2.24 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 9.7 meters away at (4.8, -8.4). A unknown object with ID 34 is 25.1 meters away at (-17.5, 18.0). A pedestrian with ID 26 is 27.5 meters away at (-23.0, -15.1). A pedestrian with ID 36 is 28.3 meters away at (-22.9, -16.7). A pedestrian with ID 37 is 56.5 meters away at (-27.6, -49.3). A pedestrian with ID 38 is 62.3 meters away at (-29.7, -54.7). A pedestrian with ID 35 is 63.3 meters away at (-30.0, -55.8).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00921062 -1.4024644 ] m/s.The unknown object with ID 34 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 [2.7552003e-04 9.3185163e-06] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.0040486  -0.01628188] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.60242254 1.1961062 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.48395604 0.91714185] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.6321903  0.98936814] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -4.8) m/s. Its current heading (yaw) is -1.75 radians with an angular velocity of -1.75 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 8.5 meters away at (7.8, -3.3). A pedestrian with ID 29 is 20.9 meters away at (-19.5, -7.4). A pedestrian with ID 26 is 21.2 meters away at (-19.6, -8.1). A pedestrian with ID 36 is 21.3 meters away at (-19.4, -9.0). A unknown object with ID 34 is 29.5 meters away at (-14.3, 25.8). A pedestrian with ID 37 is 45.2 meters away at (-23.0, -38.9). A pedestrian with ID 38 is 51.5 meters away at (-25.1, -44.9). A pedestrian with ID 35 is 52.7 meters away at (-25.5, -46.1). A pedestrian with ID 1 is 61.0 meters away at (-20.4, -57.5). A unknown object with ID 28 is 74.2 meters away at (-26.9, -69.2).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3040952 -1.3659463] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01581897 -0.01307037] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01580287 -0.01856005] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.01947583 -0.01082105] m/s.The unknown object with ID 34 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 [0.5604694 1.2297904] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.6019825  0.97897935] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.5626154  0.93724823] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.28307065 -0.04831117] m/s.The unknown object with ID 28 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, -5.8) m/s. Its current heading (yaw) is -1.70 radians with an angular velocity of -1.70 rad/s.

The most relevant actors are: A pedestrian with ID 37 is 33.1 meters away at (-20.9, -25.7). A unknown object with ID 34 is 38.6 meters away at (-12.8, 36.4). A pedestrian with ID 38 is 39.4 meters away at (-22.8, -32.1). A pedestrian with ID 35 is 40.6 meters away at (-23.3, -33.2). A pedestrian with ID 1 is 50.6 meters away at (-18.9, -46.9).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.26866692 1.2062315 ] m/s.The unknown object with ID 34 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 [0.44247022 1.0865169 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.47080255 1.093366  ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00413828 -0.01293102] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -6.6) m/s. Its current heading (yaw) is -1.78 radians with an angular velocity of -1.78 rad/s.

The most relevant actors are: A pedestrian with ID 37 is 21.6 meters away at (-18.5, -11.2). A pedestrian with ID 38 is 26.9 meters away at (-20.2, -17.8). A pedestrian with ID 35 is 27.6 meters away at (-20.2, -18.8). A unknown object with ID 10 is 30.6 meters away at (-22.9, -20.2). A pedestrian with ID 8 is 35.1 meters away at (-26.5, -23.0). A pedestrian with ID 1 is 38.3 meters away at (-16.6, -34.4). A unknown object with ID 2 is 40.5 meters away at (-27.6, -29.6). A unknown object with ID 34 is 50.0 meters away at (-11.0, 48.8). A vehicle with ID 15 is 67.5 meters away at (-16.7, -65.4).

The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.2146275  0.7099883] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.38996384 0.9588882 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.6039038 1.0375648] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.02550668 -0.03126719] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00686022 0.00751784] 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 vehicle with ID 15 is traveling at a (x, y) velocity of [-3.4056098  -0.15993392] 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, -0.2) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A vehicle with ID 35 is 7.0 meters away at (1.1, 6.9). A vehicle with ID 29 is 8.7 meters away at (-0.4, -8.7). A vehicle with ID 32 is 8.8 meters away at (-3.3, -8.2). A unknown object with ID 31 is 9.2 meters away at (6.8, 6.1). A vehicle with ID 36 is 9.7 meters away at (-9.4, -2.6). A vehicle with ID 27 is 10.4 meters away at (9.8, 3.4). A vehicle with ID 37 is 11.6 meters away at (-0.1, 11.6). A vehicle with ID 22 is 11.8 meters away at (9.0, -7.6). A vehicle with ID 26 is 14.3 meters away at (14.3, -0.4). A vehicle with ID 23 is 17.0 meters away at (12.9, -11.1).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.9014149  3.2793436] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.1). A unknown object with ID 31 is 9.1 meters away at (6.7, 6.2). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 19 is 9.9 meters away at (1.8, -9.7). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.9, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 35 is 12.5 meters away at (-4.5, 11.7). A vehicle with ID 26 is 14.2 meters away at (14.2, -0.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 [-2.0465865  1.6788638] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.0). A unknown object with ID 31 is 9.1 meters away at (6.7, 6.2). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 19 is 9.8 meters away at (1.7, -9.7). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.9, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 26 is 14.2 meters away at (14.2, -0.3). A unknown object with ID 10 is 16.5 meters away at (-15.7, 5.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A vehicle with ID 29 is 8.6 meters away at (-0.5, -8.6). A vehicle with ID 32 is 8.7 meters away at (-3.4, -8.0). A unknown object with ID 31 is 9.1 meters away at (6.6, 6.2). A unknown object with ID 19 is 9.8 meters away at (1.7, -9.7). A vehicle with ID 36 is 9.8 meters away at (-9.5, -2.5). A vehicle with ID 27 is 10.3 meters away at (9.7, 3.5). A vehicle with ID 22 is 11.6 meters away at (8.8, -7.5). A vehicle with ID 37 is 11.7 meters away at (-0.2, 11.7). A vehicle with ID 26 is 14.1 meters away at (14.1, -0.3). A unknown object with ID 10 is 16.5 meters away at (-15.7, 5.2).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 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 19 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A vehicle with ID 75 is 4.8 meters away at (-4.8, -0.1). A vehicle with ID 77 is 5.8 meters away at (4.2, 3.9). A vehicle with ID 80 is 8.9 meters away at (-8.4, 2.9). A unknown object with ID 82 is 12.7 meters away at (1.2, 12.6). A unknown object with ID 38 is 15.4 meters away at (7.9, -13.2). A unknown object with ID 85 is 16.9 meters away at (-2.3, 16.8). A unknown object with ID 86 is 18.2 meters away at (-3.3, 17.9). A unknown object with ID 88 is 18.6 meters away at (-3.7, 18.2). A vehicle with ID 96 is 18.6 meters away at (-5.8, -17.7). A vehicle with ID 73 is 20.2 meters away at (17.7, 9.9).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -1.1) m/s. Its current heading (yaw) is -0.52 radians with an angular velocity of -0.52 rad/s.

The most relevant actors are: A vehicle with ID 77 is 5.7 meters away at (3.1, 4.7). A vehicle with ID 75 is 6.0 meters away at (-6.0, 0.8). A vehicle with ID 80 is 10.3 meters away at (-9.6, 3.8). A unknown object with ID 82 is 13.6 meters away at (-0.1, 13.6). A unknown object with ID 85 is 18.0 meters away at (-3.3, 17.7). A vehicle with ID 96 is 18.2 meters away at (-7.1, -16.8). A unknown object with ID 88 is 19.3 meters away at (-4.4, 18.8). A unknown object with ID 86 is 19.7 meters away at (-4.7, 19.1). A vehicle with ID 73 is 19.8 meters away at (16.6, 10.7). A vehicle with ID 90 is 22.8 meters away at (-19.2, 12.4).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 1.2) m/s. Its current heading (yaw) is 0.25 radians with an angular velocity of 0.25 rad/s.

The most relevant actors are: A vehicle with ID 77 is 7.2 meters away at (-4.2, 5.9). A vehicle with ID 75 is 13.4 meters away at (-13.3, 1.9). A vehicle with ID 73 is 15.0 meters away at (9.3, 11.7). A vehicle with ID 114 is 15.6 meters away at (11.0, -11.0). A vehicle with ID 80 is 17.6 meters away at (-16.9, 4.9). A vehicle with ID 96 is 21.3 meters away at (-14.4, -15.7). A vehicle with ID 72 is 21.7 meters away at (13.8, 16.7). A unknown object with ID 85 is 21.7 meters away at (-10.6, 18.9). A vehicle with ID 94 is 23.3 meters away at (18.6, -14.0). A unknown object with ID 68 is 23.3 meters away at (-11.8, 20.1).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [-2.7905688  2.4847906] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 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 unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 4.4) m/s. Its current heading (yaw) is 0.77 radians with an angular velocity of 0.77 rad/s.

The most relevant actors are: A vehicle with ID 73 is 5.7 meters away at (0.3, 5.7). A vehicle with ID 72 is 11.7 meters away at (4.7, 10.7). A vehicle with ID 77 is 13.2 meters away at (-13.2, -0.1). A vehicle with ID 114 is 14.3 meters away at (-1.1, -14.2). A vehicle with ID 15 is 17.4 meters away at (8.3, 15.3). A vehicle with ID 94 is 22.1 meters away at (9.7, -19.9). A vehicle with ID 75 is 22.7 meters away at (-22.4, -4.1). A vehicle with ID 76 is 25.4 meters away at (21.7, 13.2). A vehicle with ID 80 is 26.0 meters away at (-26.0, -1.2). A vehicle with ID 79 is 26.8 meters away at (24.1, 11.7).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [-1.5073545  1.3716133] m/s.The vehicle with ID 15 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -0.2) m/s. Its current heading (yaw) is -3.09 radians with an angular velocity of -3.09 rad/s.

The most relevant actors are: A unknown object with ID 22 is 12.9 meters away at (3.8, 12.4). A unknown object with ID 24 is 17.3 meters away at (8.7, 15.0). A unknown object with ID 26 is 17.5 meters away at (10.1, 14.3). A unknown object with ID 29 is 18.0 meters away at (2.4, 17.8). A unknown object with ID 27 is 18.0 meters away at (7.5, 16.4). A unknown object with ID 28 is 18.4 meters away at (12.1, 13.9). A unknown object with ID 31 is 23.5 meters away at (7.0, 22.4). A unknown object with ID 23 is 28.0 meters away at (-26.0, -10.4). A unknown object with ID 2 is 29.8 meters away at (-28.3, -9.4). A unknown object with ID 39 is 42.5 meters away at (-40.4, 13.2).

The unknown object with ID 22 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A unknown object with ID 7 is 16.0 meters away at (11.4, 11.3). A unknown object with ID 22 is 16.4 meters away at (10.5, 12.7). A unknown object with ID 29 is 20.2 meters away at (9.0, 18.1). A unknown object with ID 24 is 21.6 meters away at (15.3, 15.3). A unknown object with ID 18 is 21.7 meters away at (10.0, 19.2). A unknown object with ID 23 is 21.8 meters away at (-19.3, -10.1). A unknown object with ID 27 is 21.9 meters away at (14.1, 16.7). A unknown object with ID 26 is 22.2 meters away at (16.8, 14.6). A unknown object with ID 2 is 23.4 meters away at (-21.6, -9.1). A unknown object with ID 28 is 23.5 meters away at (18.8, 14.2).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 2 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -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 7 is 17.2 meters away at (13.0, 11.3). A unknown object with ID 22 is 17.5 meters away at (12.1, 12.6). A unknown object with ID 17 is 19.3 meters away at (10.1, 16.5). A unknown object with ID 23 is 20.3 meters away at (-17.7, -10.1). A unknown object with ID 29 is 21.1 meters away at (10.6, 18.2). A unknown object with ID 2 is 21.9 meters away at (-19.9, -9.1). A unknown object with ID 18 is 22.5 meters away at (11.6, 19.3). A unknown object with ID 24 is 22.8 meters away at (17.0, 15.3). A unknown object with ID 27 is 23.0 meters away at (15.8, 16.7). A unknown object with ID 26 is 23.5 meters away at (18.5, 14.6).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 18 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 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.

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 -3.11 radians with an angular velocity of -3.11 rad/s.

The most relevant actors are: A unknown object with ID 7 is 17.3 meters away at (13.1, 11.3). A unknown object with ID 22 is 17.6 meters away at (12.3, 12.6). A unknown object with ID 17 is 19.3 meters away at (10.1, 16.4). A unknown object with ID 23 is 20.2 meters away at (-17.5, -10.1). A unknown object with ID 29 is 21.1 meters away at (10.7, 18.2). A unknown object with ID 2 is 21.8 meters away at (-19.8, -9.1). A unknown object with ID 24 is 22.9 meters away at (17.1, 15.3). A unknown object with ID 27 is 23.0 meters away at (15.9, 16.7). A unknown object with ID 26 is 23.6 meters away at (18.6, 14.6). A unknown object with ID 28 is 25.0 meters away at (20.5, 14.2).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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 24 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.5) m/s. Its current heading (yaw) is -2.22 radians with an angular velocity of -2.22 rad/s.

The most relevant actors are: A vehicle with ID 73 is 4.4 meters away at (4.0, -1.7). A unknown object with ID 64 is 7.6 meters away at (7.6, 0.5). A unknown object with ID 42 is 7.8 meters away at (7.7, -1.2). A pedestrian with ID 74 is 12.7 meters away at (11.6, 5.1). A vehicle with ID 75 is 17.3 meters away at (8.5, 15.1). A vehicle with ID 77 is 23.3 meters away at (6.8, -22.3). A vehicle with ID 76 is 23.3 meters away at (12.3, 19.8). A vehicle with ID 78 is 23.4 meters away at (-23.4, -1.7). A unknown object with ID 63 is 24.2 meters away at (19.4, 14.4). A vehicle with ID 72 is 27.3 meters away at (12.9, -24.1).

The vehicle with ID 73 is traveling at a (x, y) velocity of [1.4192721 3.431785 ] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.2899906  -0.44203323] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -4.5) m/s. Its current heading (yaw) is -1.60 radians with an angular velocity of -1.60 rad/s.

The most relevant actors are: A vehicle with ID 73 is 14.7 meters away at (10.2, 10.5). A pedestrian with ID 74 is 16.6 meters away at (13.1, 10.3). A vehicle with ID 77 is 18.6 meters away at (9.0, -16.3). A vehicle with ID 78 is 21.5 meters away at (-21.0, 4.4). A vehicle with ID 72 is 23.6 meters away at (15.1, -18.1). A vehicle with ID 75 is 23.8 meters away at (10.9, 21.1). A pedestrian with ID 80 is 27.4 meters away at (-26.4, -7.0). A pedestrian with ID 81 is 27.7 meters away at (-26.6, -7.8). A vehicle with ID 71 is 29.5 meters away at (21.2, -20.5). A vehicle with ID 76 is 29.7 meters away at (14.7, 25.8).

The vehicle with ID 73 is traveling at a (x, y) velocity of [1.6791822 2.2763114] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.45763838 -0.36681148] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-1.3588123   0.22434674] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-1.3201083   0.17396607] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -3.8) m/s. Its current heading (yaw) is -0.68 radians with an angular velocity of -0.68 rad/s.

The most relevant actors are: A vehicle with ID 77 is 8.6 meters away at (4.7, -7.2). A pedestrian with ID 67 is 14.1 meters away at (-3.5, -13.6). A vehicle with ID 72 is 14.1 meters away at (10.8, -9.0). A vehicle with ID 71 is 20.4 meters away at (16.9, -11.4). A pedestrian with ID 74 is 21.2 meters away at (7.9, 19.7). A vehicle with ID 73 is 22.7 meters away at (7.3, 21.5). A vehicle with ID 69 is 25.8 meters away at (21.9, -13.6). A vehicle with ID 90 is 27.0 meters away at (-20.9, -17.1). A vehicle with ID 78 is 28.8 meters away at (-25.6, 13.3). A vehicle with ID 89 is 29.7 meters away at (-27.9, -10.3).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.09737502 -0.07706133] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.5235877   0.34462744] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -2.8) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 72 is 3.0 meters away at (-0.8, -2.9). A vehicle with ID 77 is 7.1 meters away at (-7.0, -1.1). A vehicle with ID 71 is 7.3 meters away at (5.1, -5.2). A vehicle with ID 69 is 12.6 meters away at (10.1, -7.5). A vehicle with ID 68 is 18.7 meters away at (15.7, -10.1). A pedestrian with ID 17 is 22.8 meters away at (22.8, 1.1). A pedestrian with ID 19 is 23.3 meters away at (23.2, 2.1). A vehicle with ID 27 is 23.9 meters away at (20.4, -12.5). A pedestrian with ID 33 is 25.4 meters away at (20.3, -15.3). A pedestrian with ID 8 is 25.6 meters away at (20.0, -15.9).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-1.2572429  0.5345707] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.2094446   0.55849516] m/s.The vehicle with ID 27 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 [0.03221808 0.00561799] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.05881288 -0.06594122] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.3) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (-6.0, -0.9). A unknown object with ID 29 is 19.9 meters away at (18.6, 7.1). A unknown object with ID 30 is 21.0 meters away at (19.2, 8.4). A unknown object with ID 31 is 22.8 meters away at (20.8, 9.4). A pedestrian with ID 26 is 23.0 meters away at (-11.3, -20.0). A unknown object with ID 33 is 23.9 meters away at (21.0, 11.4). A unknown object with ID 34 is 24.3 meters away at (21.5, 11.5). A pedestrian with ID 27 is 49.7 meters away at (-28.2, -40.9). A unknown object with ID 19 is 54.1 meters away at (-43.7, -31.8). A vehicle with ID 35 is 57.9 meters away at (-28.0, -50.6).

The vehicle with ID 28 is traveling at a (x, y) velocity of [-7.519259 -8.516414] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0066011 -1.0671445] 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 34 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 [-0.8646814 -1.0271974] m/s.The unknown object with ID 19 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 (4.2, 7.1) m/s. Its current heading (yaw) is 1.04 radians with an angular velocity of 1.04 rad/s.

The most relevant actors are: A unknown object with ID 30 is 10.9 meters away at (9.8, -4.8). A unknown object with ID 29 is 11.0 meters away at (9.1, -6.1). A unknown object with ID 33 is 11.6 meters away at (11.5, -1.8). A unknown object with ID 31 is 12.0 meters away at (11.4, -3.7). A unknown object with ID 34 is 12.1 meters away at (12.0, -1.7). A unknown object with ID 17 is 17.7 meters away at (17.5, -2.8). A pedestrian with ID 26 is 42.2 meters away at (-22.9, -35.5). A vehicle with ID 28 is 42.9 meters away at (-30.3, -30.4). A vehicle with ID 15 is 50.7 meters away at (-32.9, -38.6). A vehicle with ID 3 is 67.9 meters away at (30.1, 60.9).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0506101 -1.0794947] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-7.4000316 -7.8316307] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.075596 9.673702] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 7.6) m/s. Its current heading (yaw) is 1.12 radians with an angular velocity of 1.12 rad/s.

The most relevant actors are: A unknown object with ID 10 is 14.5 meters away at (10.6, 9.9). A unknown object with ID 34 is 16.8 meters away at (4.2, -16.3). A unknown object with ID 33 is 16.9 meters away at (3.7, -16.4). A unknown object with ID 31 is 18.7 meters away at (3.5, -18.3). A unknown object with ID 30 is 19.5 meters away at (1.9, -19.4). A unknown object with ID 29 is 20.7 meters away at (1.3, -20.7). A pedestrian with ID 18 is 40.2 meters away at (-14.4, -37.5). A vehicle with ID 15 is 40.6 meters away at (-22.7, -33.6). A vehicle with ID 3 is 51.6 meters away at (22.4, 46.5). A pedestrian with ID 26 is 61.8 meters away at (-32.9, -52.3).

The unknown object with ID 10 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 33 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.92013615 0.9987084 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.567611  9.8448715] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.0834441  0.32456413] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.013008  -1.2169331] 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, 7.3) m/s. Its current heading (yaw) is 1.15 radians with an angular velocity of 1.15 rad/s.

The most relevant actors are: A unknown object with ID 10 is 5.9 meters away at (3.4, -4.8). A unknown object with ID 34 is 31.2 meters away at (-2.9, -31.1). A unknown object with ID 33 is 31.5 meters away at (-3.4, -31.3). A vehicle with ID 15 is 31.9 meters away at (-14.7, -28.3). A unknown object with ID 31 is 33.3 meters away at (-3.4, -33.1). A unknown object with ID 30 is 34.6 meters away at (-5.1, -34.2). A unknown object with ID 29 is 36.0 meters away at (-5.7, -35.5). A vehicle with ID 3 is 37.7 meters away at (16.1, 34.1). A unknown object with ID 21 is 43.5 meters away at (-6.5, -43.0). A vehicle with ID 22 is 44.6 meters away at (1.5, -44.6).

The unknown object with ID 10 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 33 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 [ 6.4073086 10.3074665] 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.8873218 2.4659078] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) 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 pedestrian with ID 57 is 10.7 meters away at (2.0, -10.5). A vehicle with ID 11 is 35.0 meters away at (26.7, -22.6). A vehicle with ID 58 is 36.6 meters away at (34.0, 13.6). A unknown object with ID 21 is 47.1 meters away at (38.6, -27.1). A unknown object with ID 36 is 52.2 meters away at (-52.1, 1.5). A unknown object with ID 23 is 53.5 meters away at (-51.2, 15.4). A vehicle with ID 63 is 57.4 meters away at (-55.4, -15.1). A vehicle with ID 62 is 59.2 meters away at (48.0, -34.7). A vehicle with ID 56 is 61.9 meters away at (-60.5, -13.1). A pedestrian with ID 60 is 62.7 meters away at (11.2, -61.7).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.9654719  -0.90315044] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.2528543  5.6537447] m/s.The vehicle with ID 58 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-8.784212   4.1631923] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.6812534   0.29390523] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.9) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A unknown object with ID 49 is 15.2 meters away at (-9.3, 12.1). A pedestrian with ID 57 is 24.5 meters away at (13.4, -20.5). A vehicle with ID 11 is 29.2 meters away at (22.1, -19.1). A unknown object with ID 32 is 43.2 meters away at (-43.0, -4.4). A unknown object with ID 36 is 43.3 meters away at (-42.8, -6.5). A vehicle with ID 58 is 43.7 meters away at (43.4, 5.6). A vehicle with ID 63 is 51.5 meters away at (-46.0, -23.2). A vehicle with ID 62 is 52.0 meters away at (40.0, -33.2). A vehicle with ID 56 is 55.4 meters away at (-51.2, -21.2).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0001587 -0.8714555] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.7987704  5.739817 ] 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 36 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-8.555169   5.8236914] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.7) 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 11 is 18.1 meters away at (13.7, -11.8). A pedestrian with ID 57 is 32.9 meters away at (20.1, -26.0). A unknown object with ID 32 is 39.5 meters away at (-38.6, -8.2). A unknown object with ID 36 is 39.8 meters away at (-38.5, -10.2). A vehicle with ID 58 is 47.8 meters away at (47.8, 1.6). A vehicle with ID 63 is 49.6 meters away at (-41.6, -27.0). A vehicle with ID 56 is 53.1 meters away at (-46.9, -25.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-5.5282326  4.8440733] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.1701348 -0.8125308] 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 36 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 3.7) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A cyclist with ID 14 is 13.0 meters away at (-7.3, 10.7). A vehicle with ID 11 is 13.5 meters away at (10.2, -8.8). A unknown object with ID 32 is 35.0 meters away at (-32.2, -13.6). A unknown object with ID 36 is 35.7 meters away at (-32.1, -15.6). A pedestrian with ID 57 is 42.9 meters away at (29.0, -31.6). A vehicle with ID 63 is 47.9 meters away at (-35.3, -32.3). A vehicle with ID 56 is 50.6 meters away at (-40.6, -30.2). A vehicle with ID 58 is 54.1 meters away at (54.0, -4.0). A vehicle with ID 33 is 56.1 meters away at (-1.4, -56.1). A vehicle with ID 13 is 66.5 meters away at (-50.0, -43.8).

The cyclist with ID 14 is traveling at a (x, y) velocity of [-6.5320847e-09  8.4034006e-08] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-4.2000494  3.6772418] 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.2055304  0.09267419] m/s.The vehicle with ID 63 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 58 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -7.8) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 37 is 4.0 meters away at (-3.0, 2.7). A vehicle with ID 34 is 5.3 meters away at (2.5, -4.6). A vehicle with ID 71 is 7.8 meters away at (-6.2, -4.8). A vehicle with ID 77 is 10.0 meters away at (-0.2, 10.0). A vehicle with ID 72 is 11.8 meters away at (0.3, -11.8). A vehicle with ID 88 is 12.4 meters away at (11.7, -4.1). A unknown object with ID 53 is 12.5 meters away at (-11.3, -5.4). A vehicle with ID 85 is 13.1 meters away at (13.0, -1.9). A vehicle with ID 82 is 13.5 meters away at (13.5, 0.7). A vehicle with ID 80 is 15.0 meters away at (14.7, 2.9).

The vehicle with ID 37 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 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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, -7.6) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 72 is 6.9 meters away at (5.9, 3.6). A vehicle with ID 71 is 10.6 meters away at (-0.6, 10.5). A unknown object with ID 53 is 11.4 meters away at (-5.6, 9.9). A vehicle with ID 34 is 13.5 meters away at (8.1, 10.8). A pedestrian with ID 67 is 13.7 meters away at (-7.8, 11.2). A vehicle with ID 66 is 13.7 meters away at (-13.4, -3.1). A pedestrian with ID 51 is 13.9 meters away at (-9.5, 10.1). A pedestrian with ID 38 is 14.7 meters away at (-10.4, 10.3). A vehicle with ID 35 is 15.5 meters away at (-8.9, -12.7). A pedestrian with ID 39 is 15.6 meters away at (-10.9, 11.2).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.00911138 -0.0125163 ] m/s.The vehicle with ID 66 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 [ 0.01436277 -0.02862017] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.0239866 -0.0221087] m/s.The vehicle with ID 35 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 [ 0.0122005  -0.02411294] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -7.3) m/s. Its current heading (yaw) is -1.92 radians with an angular velocity of -1.92 rad/s.

The most relevant actors are: A vehicle with ID 35 is 3.9 meters away at (-3.4, 1.8). A vehicle with ID 73 is 5.0 meters away at (4.0, -3.0). A vehicle with ID 8 is 8.5 meters away at (2.3, -8.1). A vehicle with ID 36 is 11.1 meters away at (-6.9, -8.7). A vehicle with ID 66 is 14.1 meters away at (-8.0, 11.6). A vehicle with ID 70 is 17.3 meters away at (-9.1, -14.7). A vehicle with ID 55 is 17.4 meters away at (17.3, -1.2). A vehicle with ID 64 is 18.3 meters away at (-12.9, 13.1). A vehicle with ID 74 is 19.3 meters away at (-1.7, -19.3). A vehicle with ID 72 is 21.7 meters away at (11.4, 18.5).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.0) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 70 is 4.3 meters away at (-4.0, -1.4). A vehicle with ID 36 is 4.8 meters away at (-1.9, 4.4). A vehicle with ID 74 is 6.8 meters away at (3.4, -5.9). A vehicle with ID 8 is 9.0 meters away at (7.4, 5.0). A vehicle with ID 1 is 9.1 meters away at (-6.1, -6.8). A pedestrian with ID 3 is 9.3 meters away at (-8.9, -2.8). A vehicle with ID 75 is 10.7 meters away at (1.8, -10.6). A vehicle with ID 73 is 13.7 meters away at (9.1, 10.2). A vehicle with ID 76 is 15.2 meters away at (-0.0, -15.2). A vehicle with ID 35 is 15.3 meters away at (1.7, 15.2).

The vehicle with ID 70 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.48504856 1.245378  ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 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 (10.2, -0.1) m/s. Its current heading (yaw) is -0.01 radians with an angular velocity of -0.01 rad/s.

The most relevant actors are: A vehicle with ID 18 is 12.4 meters away at (-2.5, -12.2). A vehicle with ID 19 is 20.2 meters away at (-2.4, -20.0). A vehicle with ID 17 is 29.9 meters away at (-29.4, -5.7). A vehicle with ID 22 is 40.4 meters away at (-15.3, -37.4). A vehicle with ID 26 is 48.9 meters away at (-15.3, -46.4). A unknown object with ID 20 is 53.2 meters away at (-53.2, 2.1). A unknown object with ID 12 is 53.2 meters away at (-53.2, 2.4). A vehicle with ID 27 is 53.8 meters away at (-15.3, -51.6). A vehicle with ID 21 is 56.2 meters away at (-56.2, 0.0). A vehicle with ID 23 is 59.1 meters away at (-59.1, 0.7).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching