The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 0.0) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 5 is 9.7 meters away at (-9.6, 1.0). A vehicle with ID 51 is 9.8 meters away at (0.0, 9.8). A vehicle with ID 53 is 10.0 meters away at (-2.4, -9.7). A vehicle with ID 50 is 10.1 meters away at (0.4, -10.1). A vehicle with ID 48 is 10.6 meters away at (3.1, -10.1). A vehicle with ID 49 is 10.7 meters away at (2.8, 10.4). A vehicle with ID 57 is 10.9 meters away at (-2.6, 10.6). A vehicle with ID 58 is 11.0 meters away at (-5.1, -9.8). A vehicle with ID 59 is 11.2 meters away at (-5.3, 9.9). A vehicle with ID 43 is 11.6 meters away at (5.8, -10.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 51 is 10.1 meters away at (-2.3, 9.9). A vehicle with ID 48 is 10.2 meters away at (0.9, -10.1). A vehicle with ID 50 is 10.3 meters away at (-1.9, -10.2). A vehicle with ID 49 is 10.4 meters away at (0.5, 10.4). A vehicle with ID 43 is 10.6 meters away at (3.5, -10.0). A vehicle with ID 46 is 10.7 meters away at (3.1, 10.3). A vehicle with ID 53 is 10.7 meters away at (-4.7, -9.7). A vehicle with ID 5 is 10.8 meters away at (-10.7, 1.0). A vehicle with ID 57 is 11.6 meters away at (-4.9, 10.5). A vehicle with ID 58 is 12.2 meters away at (-7.4, -9.8).

The vehicle with ID 51 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 vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 [ 1.1907036  -0.02358254] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 0.0) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 43 is 10.3 meters away at (-1.5, -10.1). A vehicle with ID 46 is 10.4 meters away at (-1.8, 10.2). A vehicle with ID 41 is 10.7 meters away at (3.4, 10.1). A vehicle with ID 47 is 10.9 meters away at (0.8, 10.8). A vehicle with ID 48 is 11.0 meters away at (-4.1, -10.2). A vehicle with ID 49 is 11.3 meters away at (-4.5, 10.3). A vehicle with ID 5 is 11.7 meters away at (-11.7, 1.0). A vehicle with ID 51 is 12.2 meters away at (-7.3, 9.8). A vehicle with ID 50 is 12.3 meters away at (-6.9, -10.2). A vehicle with ID 53 is 13.8 meters away at (-9.7, -9.8).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 [ 3.0652208  -0.01605343] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (0.1, -0.4) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A vehicle with ID 51 is 12.0 meters away at (-11.7, 2.4). A vehicle with ID 43 is 12.7 meters away at (4.3, -12.0). A vehicle with ID 46 is 14.6 meters away at (-12.5, -7.4). A vehicle with ID 52 is 15.8 meters away at (-7.7, 13.8). A vehicle with ID 55 is 17.6 meters away at (-3.1, 17.3). A vehicle with ID 53 is 17.8 meters away at (-16.0, -7.7). A vehicle with ID 60 is 18.5 meters away at (-9.9, 15.6). A pedestrian with ID 86 is 19.6 meters away at (-16.7, 10.3). A vehicle with ID 50 is 22.0 meters away at (3.2, -21.7). A pedestrian with ID 56 is 23.4 meters away at (-18.6, 14.2).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 7.349206  -5.5962305] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 9.181198 -5.770495] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.98222286  1.0404571 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.6701127  1.0296311] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.9787599 -0.8562881] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A vehicle with ID 51 is 9.5 meters away at (4.5, -8.3). A vehicle with ID 78 is 12.5 meters away at (-12.1, 3.0). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 53 is 17.7 meters away at (-16.0, -7.5). A vehicle with ID 55 is 17.8 meters away at (-3.1, 17.5). A vehicle with ID 60 is 18.7 meters away at (-10.0, 15.8). A vehicle with ID 50 is 19.5 meters away at (-0.2, -19.5). A pedestrian with ID 56 is 21.1 meters away at (-16.7, 12.8). A pedestrian with ID 86 is 22.7 meters away at (-18.9, 12.6).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 8.612031  -5.4322376] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [ 8.311394  -6.2245216] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.5643432   0.96845776] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.8950197 -0.8370027] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-1.1289048  1.0126715] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A vehicle with ID 78 is 9.8 meters away at (4.7, -8.6). A vehicle with ID 101 is 13.7 meters away at (-13.3, 3.0). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 53 is 17.7 meters away at (-16.0, -7.4). A vehicle with ID 55 is 17.8 meters away at (-3.2, 17.5). A vehicle with ID 50 is 17.9 meters away at (-3.3, -17.6). A pedestrian with ID 56 is 18.6 meters away at (-14.9, 11.1). A vehicle with ID 60 is 18.7 meters away at (-10.0, 15.9). A vehicle with ID 41 is 19.1 meters away at (0.8, 19.0).

The vehicle with ID 78 is traveling at a (x, y) velocity of [ 8.86607  -5.650783] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [ 8.868021 -6.898437] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.5375496   0.96314526] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 1.0241272  -0.77744395] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.9965672 -3.4615424] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A vehicle with ID 101 is 10.8 meters away at (5.0, -9.6). A vehicle with ID 46 is 14.5 meters away at (-12.6, -7.2). A vehicle with ID 41 is 14.5 meters away at (-0.5, 14.5). A pedestrian with ID 56 is 16.0 meters away at (-13.0, 9.4). A vehicle with ID 52 is 16.1 meters away at (-7.8, 14.1). A vehicle with ID 50 is 17.0 meters away at (-5.5, -16.1). A vehicle with ID 53 is 17.7 meters away at (-16.1, -7.4). A vehicle with ID 55 is 17.8 meters away at (-3.2, 17.6). A vehicle with ID 60 is 18.8 meters away at (-10.0, 15.9). A vehicle with ID 54 is 18.9 meters away at (-17.7, 6.6).

The vehicle with ID 101 is traveling at a (x, y) velocity of [ 9.498027  -5.9424977] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-0.38939297 -1.8165731 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.9953042  -0.78421265] m/s.The vehicle with ID 52 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 [-0.84110165  0.5494848 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 [ 8.808521  -7.3156557] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 6.9) 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 54 is 3.3 meters away at (3.2, -0.5). A unknown object with ID 91 is 5.9 meters away at (-4.9, -3.3). A vehicle with ID 97 is 9.3 meters away at (0.2, 9.3). A unknown object with ID 74 is 17.0 meters away at (1.0, -16.9). A unknown object with ID 86 is 20.6 meters away at (7.6, -19.2). A unknown object with ID 77 is 23.1 meters away at (17.5, -15.1). A unknown object with ID 76 is 33.5 meters away at (-24.7, 22.7). A vehicle with ID 100 is 35.3 meters away at (35.3, 0.0). A vehicle with ID 12 is 39.6 meters away at (23.3, -32.0). A vehicle with ID 95 is 40.0 meters away at (33.2, -22.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.097768    0.10056853] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-7.1090107  8.292045 ] m/s.The vehicle with ID 95 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, 7.4) m/s. Its current heading (yaw) is 2.25 radians with an angular velocity of 2.25 rad/s.

The most relevant actors are: A vehicle with ID 97 is 13.0 meters away at (11.7, -5.7). A unknown object with ID 52 is 13.8 meters away at (-12.2, 6.4). A unknown object with ID 76 is 15.0 meters away at (-12.9, 7.7). A unknown object with ID 67 is 16.4 meters away at (-13.9, 8.7). A unknown object with ID 19 is 18.4 meters away at (-15.2, 10.3). A unknown object with ID 91 is 19.6 meters away at (6.6, -18.4). A unknown object with ID 25 is 20.7 meters away at (-17.0, 11.7). A pedestrian with ID 54 is 21.7 meters away at (15.0, -15.7). A unknown object with ID 14 is 21.8 meters away at (-17.7, 12.8). A unknown object with ID 64 is 24.9 meters away at (-19.9, 14.8).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 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 unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.03583199 -0.00819659] 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 6.8) m/s. Its current heading (yaw) is 2.32 radians with an angular velocity of 2.32 rad/s.

The most relevant actors are: A unknown object with ID 19 is 5.0 meters away at (-3.1, -3.9). A unknown object with ID 14 is 5.7 meters away at (-5.5, -1.4). A unknown object with ID 76 is 6.3 meters away at (-1.0, -6.2). A unknown object with ID 50 is 7.1 meters away at (-7.1, 0.1). A unknown object with ID 52 is 7.4 meters away at (-0.1, -7.4). A unknown object with ID 64 is 8.4 meters away at (-8.3, 1.3). A unknown object with ID 31 is 10.0 meters away at (-9.7, 2.6). A unknown object with ID 85 is 11.6 meters away at (-11.0, 3.9). A unknown object with ID 43 is 13.4 meters away at (-12.3, 5.2). A unknown object with ID 21 is 15.1 meters away at (-13.7, 6.4).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 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 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 6.5) 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 unknown object with ID 53 is 5.7 meters away at (-1.8, -5.4). A unknown object with ID 21 is 6.7 meters away at (-0.3, -6.7). A unknown object with ID 43 is 8.0 meters away at (1.1, -7.9). A unknown object with ID 16 is 8.5 meters away at (-8.5, 0.6). A unknown object with ID 85 is 9.6 meters away at (2.6, -9.3). A unknown object with ID 31 is 11.1 meters away at (3.6, -10.5). A unknown object with ID 64 is 12.7 meters away at (5.1, -11.7). A unknown object with ID 50 is 14.6 meters away at (6.5, -13.0). A unknown object with ID 14 is 16.4 meters away at (8.0, -14.4). A unknown object with ID 71 is 17.2 meters away at (-15.8, 7.0).

The unknown object with ID 53 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.7) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A unknown object with ID 32 is 11.9 meters away at (-2.9, -11.5). A unknown object with ID 29 is 12.2 meters away at (-6.6, 10.2). A unknown object with ID 34 is 12.3 meters away at (-1.0, -12.3). A unknown object with ID 11 is 12.3 meters away at (-3.9, -11.7). A unknown object with ID 33 is 12.8 meters away at (-4.1, -12.1). A unknown object with ID 31 is 12.8 meters away at (-4.4, -12.0). A unknown object with ID 30 is 13.0 meters away at (-5.2, -11.9). A unknown object with ID 35 is 13.2 meters away at (1.0, -13.1). A unknown object with ID 12 is 13.9 meters away at (-0.5, -13.9). A unknown object with ID 36 is 14.7 meters away at (1.5, -14.7).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -2.9) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A unknown object with ID 39 is 4.7 meters away at (2.8, -3.7). A unknown object with ID 41 is 5.4 meters away at (2.3, -4.9). A unknown object with ID 35 is 14.7 meters away at (-12.6, -7.5). A unknown object with ID 36 is 15.1 meters away at (-12.0, -9.2). A unknown object with ID 34 is 16.0 meters away at (-14.6, -6.6). A unknown object with ID 32 is 17.5 meters away at (-16.5, -5.9). A unknown object with ID 11 is 18.5 meters away at (-17.4, -6.2). A pedestrian with ID 8 is 49.1 meters away at (45.2, -19.1). A vehicle with ID 28 is 49.1 meters away at (39.1, -29.7). A vehicle with ID 43 is 49.9 meters away at (-48.2, 12.8).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.7995397   0.51082104] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ -4.6016097 -10.722767 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.3) m/s. Its current heading (yaw) is -0.41 radians with an angular velocity of -0.41 rad/s.

The most relevant actors are: A unknown object with ID 39 is 12.1 meters away at (-11.9, 2.3). A unknown object with ID 41 is 12.4 meters away at (-12.4, 1.1). A unknown object with ID 36 is 26.9 meters away at (-26.8, -3.2). A unknown object with ID 35 is 27.4 meters away at (-27.3, -1.5). A unknown object with ID 34 is 29.4 meters away at (-29.3, -0.6). A unknown object with ID 32 is 31.0 meters away at (-31.0, 0.1). A pedestrian with ID 8 is 31.2 meters away at (28.9, -11.8). A unknown object with ID 15 is 32.2 meters away at (-32.2, 0.4). A unknown object with ID 11 is 32.3 meters away at (-32.3, -0.2). A vehicle with ID 28 is 33.8 meters away at (24.3, -23.5).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 [-0.8525947  0.5659076] 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -4.3) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 12.6 meters away at (12.1, -3.4). A vehicle with ID 28 is 18.6 meters away at (9.2, -16.1). A pedestrian with ID 10 is 23.7 meters away at (-12.1, -20.4). A pedestrian with ID 19 is 26.0 meters away at (-3.0, -25.8). A unknown object with ID 39 is 28.7 meters away at (-27.0, 9.6). A unknown object with ID 41 is 28.8 meters away at (-27.5, 8.4). A vehicle with ID 4 is 30.2 meters away at (19.7, -22.9). A vehicle with ID 13 is 37.9 meters away at (28.9, -24.6). A unknown object with ID 36 is 42.1 meters away at (-41.9, 4.3). A unknown object with ID 35 is 43.0 meters away at (-42.6, 5.9).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.8137671   0.45582935] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.01231461 -0.02018837] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00217531 -0.00296629] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-9.963848  6.657965] 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -0.4) 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 13 is 18.8 meters away at (15.0, 11.3). A vehicle with ID 15 is 22.2 meters away at (21.6, -5.0). A pedestrian with ID 11 is 36.8 meters away at (31.6, -18.9). A pedestrian with ID 18 is 45.5 meters away at (38.8, -23.9). A vehicle with ID 16 is 51.8 meters away at (46.6, -22.5).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.4398809 -0.5337675] m/s.The vehicle with ID 15 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 [-1.3123238   0.79402924] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.87250215 -0.00626063] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -1.6) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A vehicle with ID 13 is 13.7 meters away at (7.8, 11.2). A vehicle with ID 15 is 15.5 meters away at (15.2, -2.9). A pedestrian with ID 11 is 27.9 meters away at (22.9, -15.8). A vehicle with ID 16 is 45.4 meters away at (40.5, -20.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-1.2254405 -2.1282022] m/s.The vehicle with ID 15 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 [-1.2170528  0.4886688] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -2.2) m/s. Its current heading (yaw) is -0.45 radians with an angular velocity of -0.45 rad/s.

The most relevant actors are: A vehicle with ID 15 is 5.3 meters away at (5.0, 1.6). A vehicle with ID 13 is 12.1 meters away at (-6.8, 10.0). A pedestrian with ID 11 is 15.4 meters away at (11.4, -10.5). A vehicle with ID 16 is 35.3 meters away at (31.1, -16.7).

The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.98062706  0.524182  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.266727  -1.7069539] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0574198  0.6417926] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.8) m/s. Its current heading (yaw) is -0.49 radians with an angular velocity of -0.49 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 5.2 meters away at (1.0, -5.1). A vehicle with ID 15 is 11.3 meters away at (-7.8, 8.3). A vehicle with ID 16 is 26.4 meters away at (23.2, -12.5). A pedestrian with ID 7 is 27.6 meters away at (21.4, -17.4). A vehicle with ID 13 is 29.7 meters away at (-26.5, 13.4). A pedestrian with ID 4 is 76.2 meters away at (74.8, -14.8).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0929488  0.5434839] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-3.571208   1.7828608] m/s.The vehicle with ID 16 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 13 is traveling at a (x, y) velocity of [-7.0655813 -0.6813989] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.63918495 -0.6050286 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -0.5) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A pedestrian with ID 78 is 7.7 meters away at (3.7, -6.7). A vehicle with ID 75 is 9.0 meters away at (-9.0, -0.4). A pedestrian with ID 77 is 9.3 meters away at (-8.6, -3.5). A vehicle with ID 76 is 10.3 meters away at (-6.3, 8.1). A unknown object with ID 80 is 16.3 meters away at (10.8, -12.2). A vehicle with ID 37 is 18.6 meters away at (2.1, -18.5). A pedestrian with ID 81 is 18.7 meters away at (14.0, -12.5). A vehicle with ID 38 is 19.6 meters away at (13.5, 14.2). A vehicle with ID 79 is 20.0 meters away at (-19.7, 3.4). A pedestrian with ID 84 is 21.1 meters away at (17.2, -12.2).

The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.721289  -0.9338639] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 1.0217197  -0.47267747] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.11832064 0.03358084] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.06076947  0.01102976] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -1.2) m/s. Its current heading (yaw) is -0.28 radians with an angular velocity of -0.28 rad/s.

The most relevant actors are: A pedestrian with ID 78 is 7.4 meters away at (-3.0, -6.8). A unknown object with ID 80 is 11.4 meters away at (4.8, -10.4). A pedestrian with ID 77 is 12.4 meters away at (-12.1, -2.6). A pedestrian with ID 81 is 13.7 meters away at (8.6, -10.7). A unknown object with ID 33 is 14.7 meters away at (8.3, -12.1). A vehicle with ID 75 is 15.1 meters away at (-15.0, 1.5). A pedestrian with ID 84 is 15.3 meters away at (11.2, -10.4). A vehicle with ID 76 is 15.7 meters away at (-12.1, 10.0). A pedestrian with ID 85 is 16.3 meters away at (11.7, -11.3). A vehicle with ID 37 is 17.0 meters away at (-3.8, -16.6).

The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.32860246 -0.93753207] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [ 1.2116618  -0.36929163] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.06020356 0.01412045] m/s.The unknown object with ID 33 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 84 is traveling at a (x, y) velocity of [-0.02628594  0.03069106] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.23928861  0.06328172] m/s.The vehicle with ID 37 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 (5.6, -3.6) m/s. Its current heading (yaw) is -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A pedestrian with ID 84 is 5.8 meters away at (1.2, -5.7). A pedestrian with ID 81 is 6.2 meters away at (-1.1, -6.1). A pedestrian with ID 85 is 7.2 meters away at (1.6, -7.0). A pedestrian with ID 86 is 7.7 meters away at (2.8, -7.2). A unknown object with ID 80 is 7.8 meters away at (-5.2, -5.8). A vehicle with ID 74 is 7.9 meters away at (7.9, 0.7). A vehicle with ID 88 is 10.3 meters away at (2.5, -10.0). A vehicle with ID 73 is 12.5 meters away at (12.1, -2.9). A pedestrian with ID 89 is 12.7 meters away at (1.5, -12.6). A pedestrian with ID 78 is 14.3 meters away at (-13.7, -4.1).

The pedestrian with ID 84 is traveling at a (x, y) velocity of [0.01094346 0.00894687] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [0.03958395 0.00722289] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [ 0.00795976 -0.02081004] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.01468838 0.01278652] m/s.The unknown object with ID 80 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 88 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 pedestrian with ID 89 is traveling at a (x, y) velocity of [0.01286606 0.09544964] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [-0.37999046 -1.0044593 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -5.3) m/s. Its current heading (yaw) is -0.69 radians with an angular velocity of -0.69 rad/s.

The most relevant actors are: A vehicle with ID 28 is 4.3 meters away at (-2.4, -3.5). A unknown object with ID 92 is 5.0 meters away at (3.9, 3.1). A vehicle with ID 73 is 6.3 meters away at (0.3, 6.3). A vehicle with ID 72 is 7.6 meters away at (7.6, 0.2). A unknown object with ID 21 is 8.4 meters away at (4.2, -7.3). A pedestrian with ID 86 is 9.3 meters away at (-9.1, 2.1). A vehicle with ID 88 is 9.5 meters away at (-9.5, -0.5). A vehicle with ID 74 is 10.6 meters away at (-3.9, 9.8). A pedestrian with ID 85 is 10.6 meters away at (-10.3, 2.5). A pedestrian with ID 89 is 11.1 meters away at (-10.6, -3.4).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.02151039 -0.00140623] m/s.The vehicle with ID 88 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 pedestrian with ID 85 is traveling at a (x, y) velocity of [0.05280474 0.01194307] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01175931 -0.00307261] 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, -0.1) 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 10 is 7.3 meters away at (5.4, 5.0). A pedestrian with ID 13 is 15.8 meters away at (-15.7, -1.0). A pedestrian with ID 14 is 15.9 meters away at (-15.6, -2.9). A pedestrian with ID 22 is 55.2 meters away at (-53.1, -15.0). A vehicle with ID 21 is 57.9 meters away at (9.9, 57.0). A pedestrian with ID 17 is 62.6 meters away at (15.6, 60.7). A vehicle with ID 9 is 64.8 meters away at (16.0, 62.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.1727262 -3.1822023] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00167857 -0.00551912] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.1993903  -0.50786793] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1302042   0.53085506] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.08195165  0.8769424 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.12882657 0.5008803 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 10 is 3.6 meters away at (3.6, 0.2). A pedestrian with ID 14 is 13.5 meters away at (-12.8, -4.2). A pedestrian with ID 13 is 15.3 meters away at (-15.3, -1.4). A vehicle with ID 2 is 49.1 meters away at (-48.7, 6.3). A pedestrian with ID 22 is 56.7 meters away at (-54.9, -14.2). A vehicle with ID 21 is 57.9 meters away at (10.0, 57.0). A pedestrian with ID 17 is 64.2 meters away at (15.3, 62.3). A vehicle with ID 9 is 66.0 meters away at (16.1, 64.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.55799127 -1.5967071 ] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.4261023  -0.66650826] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.7775852  -0.65077454] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [13.908443 -5.974101] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.9127109   0.41960377] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.13816006 0.89583   ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.22924839 0.6251486 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 11 is 3.3 meters away at (3.0, -1.3). A vehicle with ID 10 is 3.3 meters away at (3.0, -1.3). A pedestrian with ID 14 is 11.5 meters away at (-10.1, -5.5). A pedestrian with ID 13 is 13.5 meters away at (-13.2, -2.9). A vehicle with ID 2 is 21.2 meters away at (-20.4, -5.9). A vehicle with ID 21 is 57.8 meters away at (10.0, 57.0). A pedestrian with ID 22 is 58.4 meters away at (-56.8, -13.4). A pedestrian with ID 6 is 60.0 meters away at (20.6, 56.4). A pedestrian with ID 17 is 65.9 meters away at (15.3, 64.1). A unknown object with ID 5 is 69.2 meters away at (-69.1, -4.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.3003569 -0.6539583] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.1526289 -0.559524 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [14.454443  -6.2236714] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.9667884  0.3509881] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.31392244 0.8427554 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.2374759 0.8956637] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 11 is 3.3 meters away at (3.0, -1.2). A vehicle with ID 10 is 3.3 meters away at (3.0, -1.4). A pedestrian with ID 14 is 10.1 meters away at (-7.4, -6.9). A pedestrian with ID 13 is 11.6 meters away at (-10.9, -3.9). A vehicle with ID 2 is 20.3 meters away at (9.0, -18.2). A vehicle with ID 21 is 57.9 meters away at (10.0, 57.0). A pedestrian with ID 22 is 60.1 meters away at (-58.7, -12.7). A unknown object with ID 8 is 60.1 meters away at (19.6, 56.8). A pedestrian with ID 17 is 67.8 meters away at (15.1, 66.1).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.4401076 -0.6146264] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 1.1752205 -0.5833537] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [14.973697  -6.2969584] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8608689   0.32150918] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.08966865  1.2224054 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -7.1) m/s. Its current heading (yaw) is -1.35 radians with an angular velocity of -1.35 rad/s.

The most relevant actors are: A pedestrian with ID 3 is 28.7 meters away at (2.6, -28.5). A vehicle with ID 4 is 33.1 meters away at (-22.7, 24.1). A vehicle with ID 6 is 50.0 meters away at (-41.4, 27.9). A vehicle with ID 5 is 54.0 meters away at (-13.2, 52.4).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.0030311   0.01463068] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -8.3) m/s. Its current heading (yaw) is -1.33 radians with an angular velocity of -1.33 rad/s.

The most relevant actors are: A vehicle with ID 5 is 69.9 meters away at (-16.8, 67.9).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -8.7) m/s. Its current heading (yaw) is -1.35 radians with an angular velocity of -1.35 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, -8.6) m/s. Its current heading (yaw) is -1.33 radians with an angular velocity of -1.33 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.9) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 88 is 23.2 meters away at (-20.0, -11.7). A vehicle with ID 87 is 23.2 meters away at (-20.1, -11.7). A vehicle with ID 43 is 26.9 meters away at (-26.9, 1.2). A unknown object with ID 68 is 27.3 meters away at (3.3, -27.1). A vehicle with ID 93 is 28.0 meters away at (-4.2, -27.7). A vehicle with ID 89 is 29.7 meters away at (-28.2, -9.2). A pedestrian with ID 90 is 30.8 meters away at (-22.8, -20.7). A pedestrian with ID 70 is 31.9 meters away at (-25.2, -19.6). A pedestrian with ID 80 is 32.4 meters away at (-32.0, 4.7). A vehicle with ID 91 is 33.1 meters away at (-30.6, -12.6).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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.The vehicle with ID 93 is traveling at a (x, y) velocity of [2.4964285 3.4613152] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [ 0.7185768 -0.5421367] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.09372173 -0.03176456] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.75381327  0.306984  ] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 93 is 13.7 meters away at (7.0, -11.8). A vehicle with ID 87 is 16.2 meters away at (-16.2, -0.4). A vehicle with ID 88 is 16.2 meters away at (-16.2, -0.4). A unknown object with ID 68 is 17.3 meters away at (7.2, -15.7). A pedestrian with ID 90 is 21.6 meters away at (-18.8, -10.7). A vehicle with ID 97 is 22.0 meters away at (-3.1, -21.8). A pedestrian with ID 70 is 22.9 meters away at (-21.4, -8.2). A pedestrian with ID 28 is 23.2 meters away at (12.0, -19.9). A vehicle with ID 89 is 24.4 meters away at (-24.3, 2.1). A vehicle with ID 43 is 26.3 meters away at (-23.2, 12.4).

The vehicle with ID 93 is traveling at a (x, y) velocity of [4.7668977 0.7372842] m/s.The vehicle with ID 87 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.32048416 -0.5291404 ] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [1.0129083 2.7817128] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02244891  0.00470692] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1515523   0.39989725] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.3) m/s. Its current heading (yaw) is -1.88 radians with an angular velocity of -1.88 rad/s.

The most relevant actors are: A vehicle with ID 97 is 4.3 meters away at (3.3, -2.7). A unknown object with ID 68 is 11.9 meters away at (11.8, -1.4). A vehicle with ID 101 is 12.7 meters away at (-0.4, -12.7). A pedestrian with ID 90 is 14.8 meters away at (-14.3, 3.7). A pedestrian with ID 28 is 14.9 meters away at (14.0, -5.0). A vehicle with ID 88 is 18.0 meters away at (-11.5, 13.8). A vehicle with ID 102 is 22.0 meters away at (-3.6, -21.7). A pedestrian with ID 34 is 22.8 meters away at (-21.5, 7.4). A vehicle with ID 93 is 23.7 meters away at (23.7, 0.8). A vehicle with ID 84 is 24.6 meters away at (-1.8, -24.6).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0.88205427 2.7733886 ] m/s.The unknown object with ID 68 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 [1.0870553 2.779687 ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.03643033 0.06097168] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3099439   0.40652317] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [1.175212  3.2408762] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.08876302 -0.04932031] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [ 7.072171  -2.1923404] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.0) 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 102 is 3.4 meters away at (3.2, -1.2). A vehicle with ID 101 is 9.9 meters away at (6.6, 7.4). A vehicle with ID 84 is 10.7 meters away at (2.9, -10.3). A pedestrian with ID 28 is 19.0 meters away at (16.1, 10.2). A unknown object with ID 68 is 21.0 meters away at (16.6, 12.9). A vehicle with ID 97 is 21.8 meters away at (8.5, 20.1). A vehicle with ID 46 is 22.4 meters away at (-15.9, -15.8). A vehicle with ID 103 is 24.9 meters away at (-4.9, -24.4). A vehicle with ID 85 is 25.8 meters away at (-22.4, -12.8). A vehicle with ID 88 is 28.9 meters away at (-6.8, 28.1).

The vehicle with ID 102 is traveling at a (x, y) velocity of [1.0423079 3.0252323] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [1.4349798 3.5614839] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.435611    0.52282965] m/s.The unknown object with ID 68 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 [-1.4167227  5.1491404] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 1.0) 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 60 is 5.7 meters away at (5.5, -1.5). A unknown object with ID 61 is 6.4 meters away at (6.4, -0.4). A pedestrian with ID 64 is 10.9 meters away at (-2.2, 10.7). A pedestrian with ID 62 is 12.1 meters away at (-3.8, 11.5). A vehicle with ID 17 is 16.6 meters away at (-14.7, 7.8). A vehicle with ID 66 is 20.1 meters away at (-20.1, 0.5). A unknown object with ID 67 is 24.2 meters away at (-2.2, -24.1). A unknown object with ID 68 is 26.1 meters away at (-15.4, 21.1). A vehicle with ID 63 is 27.2 meters away at (-26.9, -3.6). A vehicle with ID 65 is 32.9 meters away at (-31.7, -8.9).

The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.8609234 -1.2146248] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.8618379 -1.058805 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4541976  4.997953 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-1.7123145 -4.74753  ] m/s.The unknown object with ID 67 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.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A pedestrian with ID 64 is 5.3 meters away at (2.8, 4.5). A pedestrian with ID 62 is 5.7 meters away at (1.5, 5.5). A unknown object with ID 60 is 11.2 meters away at (9.9, -5.3). A unknown object with ID 61 is 11.6 meters away at (10.8, -4.2). A unknown object with ID 45 is 18.7 meters away at (-1.2, 18.6). A unknown object with ID 68 is 20.5 meters away at (-10.9, 17.3). A unknown object with ID 35 is 22.0 meters away at (-21.0, 6.5). A vehicle with ID 17 is 22.4 meters away at (-17.1, 14.5). A vehicle with ID 63 is 23.7 meters away at (-22.6, -7.4). A vehicle with ID 66 is 26.6 meters away at (-22.7, -13.8).

The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.11321429 -1.2071543 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01621692 -1.1298785 ] m/s.The unknown object with ID 60 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 45 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.The unknown object with ID 35 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 [-5.1468697  5.273967 ] m/s.The vehicle with ID 63 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 [-5.124354  -5.8717437] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.1) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A pedestrian with ID 62 is 9.7 meters away at (9.0, -3.6). A pedestrian with ID 64 is 10.9 meters away at (9.8, -4.6). A unknown object with ID 68 is 11.0 meters away at (-3.1, 10.6). A unknown object with ID 45 is 13.6 meters away at (6.6, 11.9). A unknown object with ID 55 is 17.2 meters away at (15.5, -7.5). A unknown object with ID 34 is 19.1 meters away at (-11.9, 15.0). A unknown object with ID 50 is 19.6 meters away at (17.4, -9.0). A vehicle with ID 63 is 20.4 meters away at (-14.8, -14.1). A unknown object with ID 60 is 21.4 meters away at (17.7, -12.1). A unknown object with ID 40 is 21.4 meters away at (-20.6, 5.7).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.48012832 -1.1486022 ] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.5808061 -1.2162222] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 50 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 unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.5) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 34 is 5.1 meters away at (-0.5, 5.1). A unknown object with ID 28 is 5.9 meters away at (2.3, 5.4). A unknown object with ID 68 is 8.2 meters away at (8.2, 0.7). A unknown object with ID 40 is 10.1 meters away at (-9.3, -4.2). A vehicle with ID 58 is 12.2 meters away at (-12.1, 1.3). A unknown object with ID 18 is 12.5 meters away at (-6.6, 10.6). A unknown object with ID 16 is 21.6 meters away at (-13.7, 16.7). A vehicle with ID 63 is 24.1 meters away at (-3.5, -23.9). A unknown object with ID 42 is 24.2 meters away at (-22.9, 7.9). A pedestrian with ID 62 is 24.3 meters away at (18.8, -15.4).

The unknown object with ID 34 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 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 16 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 unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.8066784 -0.8603571] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -1.1) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 9 is 9.0 meters away at (4.3, 7.9). A vehicle with ID 10 is 11.9 meters away at (-6.5, -10.0). A vehicle with ID 14 is 20.8 meters away at (-11.2, -17.6). A vehicle with ID 16 is 27.8 meters away at (13.6, 24.2). A vehicle with ID 19 is 30.4 meters away at (-15.8, -25.9). A vehicle with ID 21 is 58.0 meters away at (35.4, 45.9). A vehicle with ID 22 is 58.8 meters away at (-30.2, -50.5). A vehicle with ID 23 is 65.2 meters away at (39.2, 52.1). A vehicle with ID 1 is 66.6 meters away at (-3.7, -66.5). A vehicle with ID 24 is 70.1 meters away at (-34.7, -60.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.98476297 -1.5860488 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.744177  -4.7275205] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-0.23332025 -0.39611325] m/s.The vehicle with ID 23 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 [-0.16291496 -0.27586216] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.8322239 -1.6163676] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.14 radians with an angular velocity of -2.14 rad/s.

The most relevant actors are: A vehicle with ID 9 is 8.5 meters away at (4.0, 7.5). A vehicle with ID 10 is 10.0 meters away at (-5.5, -8.4). A vehicle with ID 14 is 18.9 meters away at (-10.3, -15.9). A vehicle with ID 16 is 20.8 meters away at (10.1, 18.2). A vehicle with ID 19 is 28.5 meters away at (-14.9, -24.4). A vehicle with ID 22 is 59.3 meters away at (-30.4, -51.0). A vehicle with ID 21 is 59.8 meters away at (36.4, 47.4). A unknown object with ID 5 is 62.3 meters away at (-47.5, -40.2). A vehicle with ID 23 is 67.1 meters away at (40.3, 53.7). A vehicle with ID 24 is 71.4 meters away at (-35.2, -62.2).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.376697  -0.6154255] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-1.6668783 -2.774547 ] m/s.The vehicle with ID 19 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 [-0.89712083 -1.4961606 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.46683663 -1.0404975 ] 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, -0.2) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 9 is 8.0 meters away at (3.8, 7.1). A vehicle with ID 10 is 9.1 meters away at (-5.0, -7.6). A vehicle with ID 16 is 17.6 meters away at (8.4, 15.4). A vehicle with ID 14 is 18.1 meters away at (-9.9, -15.2). A vehicle with ID 19 is 27.7 meters away at (-14.5, -23.6). A unknown object with ID 7 is 40.9 meters away at (-0.5, -40.9). A vehicle with ID 21 is 60.7 meters away at (36.9, 48.2). A unknown object with ID 4 is 60.9 meters away at (-55.1, -26.1). A vehicle with ID 22 is 62.0 meters away at (-31.6, -53.4). A vehicle with ID 23 is 67.9 meters away at (40.5, 54.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.2741283 -0.448432 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.67633516 -1.0704005 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 [-0.72472316 -1.3619481 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 9 is 7.9 meters away at (3.7, 7.0). A vehicle with ID 10 is 8.9 meters away at (-4.9, -7.4). A vehicle with ID 16 is 16.2 meters away at (7.7, 14.3). A vehicle with ID 14 is 18.0 meters away at (-9.8, -15.1). A vehicle with ID 19 is 27.5 meters away at (-14.4, -23.4). A unknown object with ID 7 is 40.8 meters away at (-0.2, -40.8). A vehicle with ID 21 is 60.8 meters away at (36.9, 48.3). A unknown object with ID 18 is 61.4 meters away at (-47.1, -39.4). A vehicle with ID 22 is 63.6 meters away at (-32.4, -54.8). A vehicle with ID 23 is 68.1 meters away at (40.9, 54.5).

The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 56 is 5.4 meters away at (0.3, 5.4). A vehicle with ID 70 is 7.1 meters away at (-6.2, -3.6). A vehicle with ID 22 is 9.6 meters away at (-7.2, 6.3). A vehicle with ID 64 is 14.8 meters away at (13.9, -5.3). A vehicle with ID 53 is 15.1 meters away at (-8.3, 12.6). A vehicle with ID 66 is 19.6 meters away at (-5.5, -18.8). A vehicle with ID 77 is 19.8 meters away at (-18.5, 7.3). A vehicle with ID 33 is 20.1 meters away at (-15.5, 12.7). A vehicle with ID 68 is 26.1 meters away at (22.8, -12.7). A vehicle with ID 69 is 26.5 meters away at (5.9, -25.8).

The vehicle with ID 56 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 [ 8.938602 -7.151833] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.1595134   0.95258856] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 8.751865 -6.939353] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.7195792  2.4733367] m/s.The vehicle with ID 68 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, 1.2) 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 56 is 4.4 meters away at (2.3, 3.8). A vehicle with ID 77 is 8.2 meters away at (0.4, -8.2). A vehicle with ID 53 is 12.7 meters away at (-6.3, 11.0). A vehicle with ID 22 is 12.7 meters away at (-9.6, 8.3). A vehicle with ID 64 is 17.3 meters away at (15.9, -6.9). A vehicle with ID 84 is 19.5 meters away at (-19.2, 3.8). A vehicle with ID 66 is 20.8 meters away at (-3.5, -20.5). A vehicle with ID 70 is 22.5 meters away at (12.8, -18.5). A vehicle with ID 33 is 27.4 meters away at (-21.1, 17.5). A vehicle with ID 69 is 28.6 meters away at (8.0, -27.4).

The vehicle with ID 56 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 [ 8.130948 -6.436066] m/s.The vehicle with ID 53 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 [-3.1651552  2.6958053] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 9.50569   -7.7185235] 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 [ 8.256704 -6.303032] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-4.2019453  3.5525641] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 3.5) 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 53 is 6.4 meters away at (-0.7, 6.3). A vehicle with ID 56 is 8.0 meters away at (7.9, -0.9). A vehicle with ID 35 is 12.6 meters away at (-12.5, 1.7). A vehicle with ID 22 is 16.0 meters away at (-12.2, 10.4). A vehicle with ID 84 is 17.3 meters away at (5.4, -16.4). A vehicle with ID 52 is 23.8 meters away at (-15.4, 18.2). A vehicle with ID 64 is 24.4 meters away at (21.5, -11.6). A vehicle with ID 66 is 25.2 meters away at (2.2, -25.1). A vehicle with ID 54 is 29.8 meters away at (-20.2, 21.9). A vehicle with ID 30 is 31.8 meters away at (-26.6, 17.5).

The vehicle with ID 53 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 35 is traveling at a (x, y) velocity of [ 9.406397  -7.0528316] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.746271  4.087604] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [ 9.0722475 -7.172357 ] m/s.The vehicle with ID 52 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 66 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.2) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 42 is 6.8 meters away at (-3.9, -5.5). A vehicle with ID 53 is 8.6 meters away at (8.5, -1.2). A vehicle with ID 52 is 12.1 meters away at (-6.1, 10.5). A vehicle with ID 22 is 17.3 meters away at (-13.1, 11.3). A vehicle with ID 54 is 17.9 meters away at (-10.8, 14.2). A vehicle with ID 56 is 19.3 meters away at (17.3, -8.5). A vehicle with ID 30 is 19.8 meters away at (-17.2, 9.8). A pedestrian with ID 80 is 24.1 meters away at (-10.6, 21.7). A vehicle with ID 35 is 25.0 meters away at (14.9, -20.2). A vehicle with ID 3 is 28.2 meters away at (-24.0, 14.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [10.027631  -7.7851143] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-5.250033   4.6297207] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.0196513  0.10290049] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 8.505367  -6.4860406] 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 (-5.9, 4.5) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A vehicle with ID 52 is 9.6 meters away at (-7.0, -6.6). A vehicle with ID 49 is 13.0 meters away at (0.2, -13.0). A vehicle with ID 57 is 14.2 meters away at (-14.2, -0.5). A vehicle with ID 50 is 16.5 meters away at (-1.3, -16.4). A vehicle with ID 58 is 39.4 meters away at (11.3, -37.8). A vehicle with ID 53 is 40.9 meters away at (31.1, -26.5). A vehicle with ID 56 is 42.5 meters away at (30.1, -30.0). A vehicle with ID 55 is 42.7 meters away at (28.0, -32.3). A vehicle with ID 64 is 46.5 meters away at (-6.0, -46.1). A vehicle with ID 54 is 46.9 meters away at (26.8, -38.5).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [ 1.560927  -1.3814796] m/s.The vehicle with ID 50 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 [5.184054  2.0774307] m/s.The vehicle with ID 53 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 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 [ 4.952937   -0.16015744] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 6.466337  -2.9992275] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 5.7) m/s. Its current heading (yaw) is 2.53 radians with an angular velocity of 2.53 rad/s.

The most relevant actors are: A vehicle with ID 57 is 12.6 meters away at (1.9, -12.4). A vehicle with ID 52 is 19.1 meters away at (7.9, -17.4). A vehicle with ID 28 is 20.0 meters away at (-19.3, 5.3). A unknown object with ID 38 is 22.9 meters away at (-11.3, 20.0). A vehicle with ID 49 is 28.2 meters away at (15.1, -23.8). A vehicle with ID 50 is 30.6 meters away at (13.7, -27.3). A vehicle with ID 26 is 39.2 meters away at (-34.8, 18.2). A vehicle with ID 12 is 50.4 meters away at (-45.0, 22.6). A vehicle with ID 65 is 56.6 meters away at (-6.2, -56.3). A vehicle with ID 64 is 56.9 meters away at (18.2, -53.9).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 6.2930574 -5.3244796] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 [ 8.011416 -6.858946] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 9.869069 -8.511244] m/s.The vehicle with ID 65 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 [4.620592  2.7427068] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, 6.3) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A vehicle with ID 26 is 7.4 meters away at (-5.2, -5.3). A vehicle with ID 12 is 11.8 meters away at (-10.9, -4.6). A vehicle with ID 28 is 16.1 meters away at (6.5, -14.7). A vehicle with ID 57 is 30.4 meters away at (18.2, -24.4). A vehicle with ID 52 is 38.0 meters away at (24.1, -29.3). A vehicle with ID 8 is 46.2 meters away at (-29.5, 35.5). A vehicle with ID 49 is 47.3 meters away at (31.2, -35.6). A vehicle with ID 50 is 49.2 meters away at (29.8, -39.1). A vehicle with ID 11 is 54.7 meters away at (-46.0, 29.5). A vehicle with ID 46 is 67.5 meters away at (-42.8, -52.2).

The vehicle with ID 26 is traveling at a (x, y) velocity of [ 5.382274  -4.5675597] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.9838247 -6.7945857] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.4040668 -2.855539 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.665214  -7.3025723] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.868686   3.0644207] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 7.2) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 11 is 14.1 meters away at (-13.9, 2.8). A unknown object with ID 35 is 21.1 meters away at (20.6, -4.8). A vehicle with ID 18 is 25.4 meters away at (-23.1, 10.7). A vehicle with ID 8 is 26.3 meters away at (-13.5, 22.6). A vehicle with ID 26 is 31.1 meters away at (18.7, -24.9). A vehicle with ID 12 is 35.5 meters away at (19.4, -29.8). A vehicle with ID 28 is 42.1 meters away at (27.5, -31.9). A cyclist with ID 13 is 48.3 meters away at (-40.3, 26.6). A vehicle with ID 20 is 49.1 meters away at (-48.0, 10.2). A vehicle with ID 57 is 50.7 meters away at (34.3, -37.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.395395 -6.174504] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.9507446 -6.680425 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.431942  -2.0327609] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 6.10957   -5.2354865] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.3524011 -1.1283883] m/s.The cyclist with ID 13 is traveling at a (x, y) velocity of [ 9.111228 -7.990475] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -4.8) m/s. Its current heading (yaw) is -2.52 radians with an angular velocity of -2.52 rad/s.

The most relevant actors are: A vehicle with ID 32 is 4.4 meters away at (0.6, -4.3). A unknown object with ID 12 is 6.3 meters away at (-6.2, -1.1). A vehicle with ID 30 is 7.5 meters away at (4.4, -6.1). A vehicle with ID 34 is 9.2 meters away at (-4.5, -8.1). A vehicle with ID 10 is 11.2 meters away at (8.4, -7.4). A vehicle with ID 35 is 12.6 meters away at (-3.2, -12.2). A vehicle with ID 36 is 15.3 meters away at (-9.7, -11.9). A unknown object with ID 31 is 15.6 meters away at (12.4, -9.5). A vehicle with ID 38 is 18.8 meters away at (-9.3, -16.4). A vehicle with ID 39 is 21.3 meters away at (-14.6, -15.5).

The vehicle with ID 32 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [6.239077  4.2973146] m/s.The vehicle with ID 35 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 31 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -6.1) m/s. Its current heading (yaw) is -2.46 radians with an angular velocity of -2.46 rad/s.

The most relevant actors are: A vehicle with ID 39 is 4.4 meters away at (-0.1, -4.4). A vehicle with ID 36 is 4.9 meters away at (4.9, -0.8). A vehicle with ID 38 is 7.5 meters away at (5.3, -5.3). A vehicle with ID 40 is 10.2 meters away at (-0.8, -10.2). A vehicle with ID 34 is 10.4 meters away at (10.0, 2.9). A vehicle with ID 35 is 11.4 meters away at (11.3, -1.1). A vehicle with ID 6 is 13.5 meters away at (12.8, -4.3). A vehicle with ID 32 is 16.5 meters away at (15.1, 6.7). A vehicle with ID 41 is 17.3 meters away at (-7.8, -15.4). A vehicle with ID 30 is 19.5 meters away at (18.9, 4.9).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [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 40 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 35 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 [4.496144  3.3621976] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -6.6) m/s. Its current heading (yaw) is -2.46 radians with an angular velocity of -2.46 rad/s.

The most relevant actors are: A vehicle with ID 41 is 8.6 meters away at (8.0, -3.1). A pedestrian with ID 19 is 12.7 meters away at (-12.5, -2.6). A pedestrian with ID 11 is 12.9 meters away at (-12.5, -3.3). A pedestrian with ID 8 is 13.8 meters away at (-13.3, -4.0). A pedestrian with ID 13 is 14.1 meters away at (-13.8, -2.8). A vehicle with ID 40 is 15.1 meters away at (14.9, 2.3). A vehicle with ID 39 is 17.7 meters away at (15.8, 8.0). A vehicle with ID 38 is 22.2 meters away at (21.0, 7.2). A vehicle with ID 36 is 23.8 meters away at (20.7, 11.7). A vehicle with ID 35 is 29.4 meters away at (27.1, 11.4).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.35804415 -0.20615886] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.64636636 -0.3139257 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.6592062 -0.5004278] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00118313 -0.08828282] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.0, -6.8) m/s. Its current heading (yaw) is -2.44 radians with an angular velocity of -2.44 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 9.2 meters away at (2.8, 8.8). A pedestrian with ID 26 is 9.5 meters away at (1.2, 9.4). A pedestrian with ID 11 is 10.6 meters away at (3.3, 10.1). A pedestrian with ID 13 is 10.7 meters away at (2.3, 10.5). A pedestrian with ID 19 is 11.1 meters away at (3.7, 10.5). A cyclist with ID 18 is 12.9 meters away at (-12.1, -4.2). A vehicle with ID 41 is 26.2 meters away at (24.1, 10.2). A unknown object with ID 16 is 26.3 meters away at (-22.4, -13.7). A vehicle with ID 40 is 34.7 meters away at (31.0, 15.6). A vehicle with ID 3 is 38.0 meters away at (29.7, 23.7).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.14721166  0.00605083] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.0149156  -0.00137989] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.09206361 0.06765304] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.01677619 -0.03563315] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01614559 -0.03159194] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [3.65201  2.640098] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 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 [-8.670446 -6.90091 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -7.4) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 12 is 20.7 meters away at (7.6, 19.3). A pedestrian with ID 39 is 22.0 meters away at (-18.7, 11.6). A vehicle with ID 41 is 31.1 meters away at (-17.6, 25.6). A pedestrian with ID 38 is 31.8 meters away at (0.2, 31.8). A pedestrian with ID 49 is 36.3 meters away at (-11.6, -34.4). A vehicle with ID 40 is 42.2 meters away at (33.4, 25.8). A unknown object with ID 32 is 46.9 meters away at (9.5, 45.9). A pedestrian with ID 47 is 56.4 meters away at (13.3, 54.8). A pedestrian with ID 50 is 56.5 meters away at (-46.2, 32.5). A pedestrian with ID 51 is 59.6 meters away at (-50.4, 31.8).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.2086287 -5.2466006] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.00320445 0.0040866 ] m/s.The vehicle with ID 41 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 [0.8449824  0.69320273] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.3636784 -0.6126598] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.05364407 -0.03402068] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [0.01814013 0.04331139] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-1.2084723   0.17947885] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -7.9) m/s. Its current heading (yaw) is -2.07 radians with an angular velocity of -2.07 rad/s.

The most relevant actors are: A pedestrian with ID 49 is 20.8 meters away at (-3.8, -20.4). A vehicle with ID 12 is 24.8 meters away at (9.2, 23.1). A pedestrian with ID 39 is 28.7 meters away at (-10.2, 26.8). A vehicle with ID 41 is 41.9 meters away at (-9.1, 40.9). A unknown object with ID 29 is 42.8 meters away at (-13.2, -40.8).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.3128338 -0.802621 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.816822  -6.5741363] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01879851 -0.01392767] m/s.The vehicle with ID 41 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -7.9) m/s. Its current heading (yaw) is -2.04 radians with an angular velocity of -2.04 rad/s.

The most relevant actors are: A pedestrian with ID 49 is 7.3 meters away at (3.8, -6.2). A unknown object with ID 29 is 25.4 meters away at (-4.9, -25.0). A vehicle with ID 12 is 26.8 meters away at (9.8, 25.0). A vehicle with ID 23 is 56.8 meters away at (-0.3, 56.8). A pedestrian with ID 22 is 63.0 meters away at (-60.8, -16.6). A vehicle with ID 14 is 63.5 meters away at (-19.3, -60.5).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.40576747 -0.8426388 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.8205462 -6.9912777] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.31390405 -0.50162077] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -8.1) m/s. Its current heading (yaw) is -2.01 radians with an angular velocity of -2.01 rad/s.

The most relevant actors are: A pedestrian with ID 49 is 13.8 meters away at (11.0, 8.3). A vehicle with ID 12 is 29.0 meters away at (10.2, 27.1). A vehicle with ID 14 is 45.7 meters away at (-11.3, -44.3). A pedestrian with ID 22 is 53.2 meters away at (-53.2, -1.2). A vehicle with ID 23 is 73.3 meters away at (7.7, 72.9).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.2744722 -0.8082203] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-3.7383432 -7.1035204] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.26226908 -0.26967052] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -3.0) m/s. Its current heading (yaw) is -2.20 radians with an angular velocity of -2.20 rad/s.

The most relevant actors are: A vehicle with ID 3 is 14.3 meters away at (-9.5, -10.7). A vehicle with ID 16 is 24.4 meters away at (-24.2, 2.9). A unknown object with ID 18 is 27.7 meters away at (24.2, 13.6). A unknown object with ID 19 is 29.9 meters away at (25.6, 15.5). A unknown object with ID 20 is 31.6 meters away at (26.5, 17.4). A unknown object with ID 21 is 33.5 meters away at (28.0, 18.5). A vehicle with ID 15 is 33.8 meters away at (-32.2, 10.1). A vehicle with ID 27 is 34.9 meters away at (-0.6, -34.9). A vehicle with ID 28 is 36.3 meters away at (-3.6, -36.1). A unknown object with ID 22 is 45.6 meters away at (19.7, 41.1).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.112559  -3.0310657] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 28 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -3.4) m/s. Its current heading (yaw) is -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 3 is 15.9 meters away at (-13.7, -8.2). A vehicle with ID 16 is 21.4 meters away at (-19.3, 9.3). A vehicle with ID 27 is 28.8 meters away at (4.4, -28.5). A vehicle with ID 28 is 29.7 meters away at (1.4, -29.6). A vehicle with ID 15 is 31.7 meters away at (-27.2, 16.3). A unknown object with ID 18 is 35.3 meters away at (29.0, 20.2). A unknown object with ID 19 is 37.6 meters away at (30.4, 22.2). A unknown object with ID 20 is 39.4 meters away at (31.3, 23.9). A vehicle with ID 9 is 41.7 meters away at (15.7, -38.6). A vehicle with ID 17 is 52.6 meters away at (18.6, -49.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7012725 -0.7395734] m/s.The vehicle with ID 16 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.1768274  1.1584737] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-5.251366   4.9294915] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 3 is 17.1 meters away at (-17.1, -1.2). A vehicle with ID 16 is 19.3 meters away at (-12.9, 14.4). A vehicle with ID 28 is 25.6 meters away at (8.1, -24.3). A vehicle with ID 27 is 25.6 meters away at (11.0, -23.1). A vehicle with ID 15 is 29.9 meters away at (-20.8, 21.4). A vehicle with ID 9 is 37.2 meters away at (20.1, -31.3). A vehicle with ID 17 is 39.3 meters away at (16.1, -35.9). A unknown object with ID 18 is 43.8 meters away at (35.6, 25.5). A unknown object with ID 19 is 45.9 meters away at (36.8, 27.5). A unknown object with ID 20 is 47.8 meters away at (37.7, 29.3).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.0376735  2.6344852] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.5515168   0.45537642] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-3.3365054  3.0132217] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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, 0.9) m/s. Its current heading (yaw) is 2.95 radians with an angular velocity of 2.95 rad/s.

The most relevant actors are: A vehicle with ID 16 is 15.9 meters away at (-3.9, 15.4). A vehicle with ID 3 is 18.5 meters away at (-17.3, 6.7). A vehicle with ID 15 is 25.3 meters away at (-11.8, 22.5). A vehicle with ID 28 is 28.8 meters away at (17.0, -23.3). A vehicle with ID 7 is 29.1 meters away at (17.1, -23.5). A vehicle with ID 27 is 29.9 meters away at (20.0, -22.1). A unknown object with ID 13 is 34.8 meters away at (27.4, 21.3). A vehicle with ID 17 is 35.0 meters away at (19.1, -29.4). A vehicle with ID 10 is 38.2 meters away at (15.9, -34.7). A vehicle with ID 9 is 41.7 meters away at (28.9, -30.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7546244  4.2507033] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 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 unknown object with ID 13 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 [-2.1787076  2.0409772] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-5.7585692  2.637823 ] m/s.The vehicle with ID 9 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 (-0.3, -1.6) 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 6 is 30.4 meters away at (-30.3, 2.6). A vehicle with ID 7 is 31.3 meters away at (-31.2, 2.2). A vehicle with ID 8 is 41.3 meters away at (-40.3, 9.1). A unknown object with ID 3 is 63.6 meters away at (-54.8, 32.2).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.03674303 0.10203616] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -4.5) m/s. Its current heading (yaw) is -1.39 radians with an angular velocity of -1.39 rad/s.

The most relevant actors are: A unknown object with ID 2 is 21.5 meters away at (4.9, -20.9). A pedestrian with ID 6 is 31.4 meters away at (-30.0, 9.4). A vehicle with ID 7 is 32.2 meters away at (-31.0, 8.9). A unknown object with ID 4 is 39.9 meters away at (30.4, -25.7). A vehicle with ID 8 is 43.1 meters away at (-40.1, 15.9).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.01189984  0.02559418] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, -4.6) m/s. Its current heading (yaw) is -0.87 radians with an angular velocity of -0.87 rad/s.

The most relevant actors are: A unknown object with ID 2 is 11.4 meters away at (0.4, -11.3). A pedestrian with ID 6 is 39.5 meters away at (-34.8, 18.7). A vehicle with ID 7 is 40.2 meters away at (-35.8, 18.3). A vehicle with ID 8 is 51.6 meters away at (-45.0, 25.3).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00498894 -0.01882809] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -4.5) m/s. Its current heading (yaw) is -0.69 radians with an angular velocity of -0.69 rad/s.

The most relevant actors are: A unknown object with ID 2 is 9.6 meters away at (-9.3, -2.4). A pedestrian with ID 6 is 52.5 meters away at (-44.6, 27.6). A vehicle with ID 7 is 53.1 meters away at (-45.6, 27.1). A vehicle with ID 8 is 64.5 meters away at (-54.8, 34.1). A pedestrian with ID 1 is 77.4 meters away at (40.6, -66.0).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00549909 -0.00279671] m/s.The vehicle with ID 7 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 1 is traveling at a (x, y) velocity of [1.3393135 1.9117067] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.3) m/s. Its current heading (yaw) is 2.52 radians with an angular velocity of 2.52 rad/s.

The most relevant actors are: A unknown object with ID 36 is 3.5 meters away at (3.0, 1.8). A vehicle with ID 39 is 7.4 meters away at (-3.0, 6.8). A vehicle with ID 41 is 12.6 meters away at (-7.8, 9.8). A unknown object with ID 37 is 32.7 meters away at (31.5, -8.9). A pedestrian with ID 40 is 38.9 meters away at (34.8, -17.4). A vehicle with ID 50 is 40.6 meters away at (-29.8, 27.5). A vehicle with ID 9 is 47.3 meters away at (36.4, -30.2). A pedestrian with ID 16 is 49.7 meters away at (0.1, -49.7). A vehicle with ID 46 is 50.4 meters away at (-17.1, -47.4). A pedestrian with ID 42 is 52.0 meters away at (1.5, -52.0).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.01988754 -0.01546451] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.3637733  5.6227865] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.06706138 -0.02972001] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.08427291 0.04260975] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.1) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A vehicle with ID 41 is 7.4 meters away at (7.4, -0.5). A vehicle with ID 39 is 12.8 meters away at (12.2, -3.6). A vehicle with ID 50 is 22.4 meters away at (-14.5, 17.0). A vehicle with ID 24 is 25.2 meters away at (-18.3, 17.3). A vehicle with ID 9 is 47.2 meters away at (37.8, -28.3). A unknown object with ID 37 is 50.7 meters away at (46.9, -19.3). A unknown object with ID 29 is 52.8 meters away at (47.7, -22.7). A vehicle with ID 38 is 53.4 meters away at (-49.9, -19.0). A vehicle with ID 46 is 57.9 meters away at (-1.6, -57.8). A vehicle with ID 6 is 62.8 meters away at (-61.5, -12.6).

The vehicle with ID 41 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-0.03249216  0.46716675] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.8191605  6.6467166] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.