The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -0.9) m/s. Its current heading (yaw) is -2.64 radians with an angular velocity of -2.64 rad/s.

The most relevant actors are: A vehicle with ID 62 is 9.2 meters away at (-8.0, -4.5). A pedestrian with ID 69 is 9.3 meters away at (-3.4, -8.6). A pedestrian with ID 72 is 10.0 meters away at (-4.4, -8.9). A pedestrian with ID 71 is 10.9 meters away at (-4.4, -10.0). A pedestrian with ID 80 is 15.3 meters away at (-15.2, -1.6). A pedestrian with ID 81 is 16.3 meters away at (-16.1, -2.4). A pedestrian with ID 51 is 17.0 meters away at (-1.2, -17.0). A vehicle with ID 70 is 17.0 meters away at (-11.5, -12.6). A pedestrian with ID 43 is 17.9 meters away at (-1.3, -17.9). A unknown object with ID 32 is 18.3 meters away at (-17.7, 4.7).

The vehicle with ID 62 is traveling at a (x, y) velocity of [ 0.3790327 -3.5598636] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.1253443  -0.68840617] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.0887439 -0.7080976] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.1102568  -0.71621794] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 1.2197078  -0.74156326] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 1.0838517 -0.6871882] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.82061774  1.3643309 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [-0.09287738 -0.42554656] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.8751168  1.3342606] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, 9.6) m/s. Its current heading (yaw) is 1.85 radians with an angular velocity of 1.85 rad/s.

The most relevant actors are: A vehicle with ID 6 is 39.1 meters away at (21.3, -32.8). A vehicle with ID 5 is 39.4 meters away at (13.5, -37.0). A vehicle with ID 7 is 59.9 meters away at (25.7, -54.1).

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.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 9.8) m/s. Its current heading (yaw) is 1.56 radians with an angular velocity of 1.56 rad/s.

The most relevant actors are: A unknown object with ID 3 is 37.2 meters away at (-2.1, -37.1). A vehicle with ID 6 is 57.6 meters away at (24.3, -52.3). A vehicle with ID 5 is 58.8 meters away at (16.7, -56.3). A vehicle with ID 7 is 79.0 meters away at (28.7, -73.6).

The unknown object with ID 3 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.The vehicle with ID 7 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 (3.2, 8.8) m/s. Its current heading (yaw) is 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A vehicle with ID 1 is 58.9 meters away at (41.2, 42.0). A vehicle with ID 5 is 76.4 meters away at (13.4, -75.2).

The vehicle with ID 1 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.7) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 1 is 41.7 meters away at (32.5, 26.2).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 2.2) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 34 is 12.4 meters away at (-9.4, 8.1). A unknown object with ID 32 is 13.5 meters away at (0.9, 13.4). A vehicle with ID 35 is 14.7 meters away at (9.2, 11.5). A vehicle with ID 39 is 15.2 meters away at (-11.7, 9.6). A vehicle with ID 44 is 17.2 meters away at (-17.2, -1.5). A vehicle with ID 42 is 18.5 meters away at (-9.8, 15.6). A vehicle with ID 47 is 19.2 meters away at (-19.2, 0.1). A vehicle with ID 37 is 20.3 meters away at (3.4, 20.0). A vehicle with ID 40 is 21.5 meters away at (1.3, 21.5). A vehicle with ID 49 is 22.0 meters away at (11.6, 18.7).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 0.8) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A unknown object with ID 32 is 10.3 meters away at (-1.8, 10.2). A vehicle with ID 35 is 10.4 meters away at (6.6, 8.1). A vehicle with ID 34 is 13.0 meters away at (-12.1, 4.8). A vehicle with ID 39 is 15.9 meters away at (-14.6, 6.3). A vehicle with ID 37 is 16.7 meters away at (0.7, 16.7). A vehicle with ID 42 is 17.6 meters away at (-12.5, 12.5). A vehicle with ID 49 is 17.8 meters away at (8.9, 15.4). A vehicle with ID 40 is 18.2 meters away at (-1.4, 18.1). A vehicle with ID 45 is 19.7 meters away at (-3.7, 19.3). A vehicle with ID 44 is 20.5 meters away at (-19.9, -4.8).

The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A unknown object with ID 28 is 4.3 meters away at (4.2, -1.2). A vehicle with ID 35 is 9.9 meters away at (6.2, 7.7). A unknown object with ID 32 is 10.0 meters away at (-2.1, 9.7). A vehicle with ID 34 is 13.2 meters away at (-12.5, 4.3). A vehicle with ID 39 is 16.1 meters away at (-15.0, 5.9). A vehicle with ID 37 is 16.3 meters away at (0.3, 16.3). A vehicle with ID 49 is 17.2 meters away at (8.5, 14.9). A vehicle with ID 42 is 17.6 meters away at (-12.8, 12.1). A vehicle with ID 40 is 17.8 meters away at (-1.8, 17.7). A vehicle with ID 45 is 19.3 meters away at (-4.1, 18.8).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A unknown object with ID 28 is 4.3 meters away at (4.1, -1.3). A vehicle with ID 35 is 9.9 meters away at (6.2, 7.6). A unknown object with ID 32 is 9.9 meters away at (-2.2, 9.7). A vehicle with ID 34 is 13.2 meters away at (-12.5, 4.3). A vehicle with ID 39 is 16.1 meters away at (-15.0, 5.9). A vehicle with ID 37 is 16.3 meters away at (0.3, 16.3). A vehicle with ID 49 is 17.1 meters away at (8.5, 14.9). A vehicle with ID 42 is 17.6 meters away at (-12.9, 12.0). A vehicle with ID 40 is 17.7 meters away at (-1.8, 17.6). A vehicle with ID 45 is 19.2 meters away at (-4.1, 18.8).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 4.1) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 16 is 22.3 meters away at (-18.6, -12.4). A pedestrian with ID 12 is 28.0 meters away at (-25.3, 12.0). A vehicle with ID 13 is 28.2 meters away at (-18.5, 21.3). A pedestrian with ID 11 is 28.4 meters away at (-25.2, 13.2). A unknown object with ID 41 is 30.7 meters away at (-19.8, -23.4). A vehicle with ID 9 is 47.6 meters away at (-47.2, -5.6). A vehicle with ID 44 is 50.2 meters away at (-21.9, -45.2). A vehicle with ID 46 is 55.0 meters away at (-32.5, -44.3). A unknown object with ID 18 is 61.0 meters away at (3.8, -60.8). A vehicle with ID 48 is 61.7 meters away at (-29.6, -54.1).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.9860538  0.8587259] m/s.The vehicle with ID 13 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 [-0.9984237   0.96599174] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 unknown object with ID 18 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 4.3) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 13 is 15.8 meters away at (-8.9, 13.0). A pedestrian with ID 12 is 18.4 meters away at (-17.6, 5.5). A pedestrian with ID 11 is 18.8 meters away at (-17.5, 6.7). A vehicle with ID 27 is 33.0 meters away at (-21.7, -24.9). A pedestrian with ID 17 is 36.9 meters away at (-33.4, -15.8). A vehicle with ID 9 is 40.1 meters away at (-37.6, -14.0). A pedestrian with ID 32 is 40.3 meters away at (-36.6, -16.8). A vehicle with ID 44 is 55.5 meters away at (-12.9, -54.0). A unknown object with ID 4 is 65.2 meters away at (-47.3, 44.8). A vehicle with ID 48 is 65.2 meters away at (-19.8, -62.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.96784407  0.8778121 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.9324863  0.836061 ] m/s.The vehicle with ID 27 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 [ 0.7210216 -0.4203541] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.68554026 -0.3803061 ] m/s.The vehicle with ID 44 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 4.4) 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 13 is 4.6 meters away at (1.0, 4.5). A pedestrian with ID 11 is 9.3 meters away at (-9.3, 0.1). A pedestrian with ID 12 is 9.4 meters away at (-9.3, -1.5). A vehicle with ID 14 is 35.1 meters away at (-23.9, -25.7). A vehicle with ID 9 is 35.7 meters away at (-27.7, -22.5). A vehicle with ID 27 is 36.0 meters away at (-12.1, -33.8). A pedestrian with ID 32 is 36.6 meters away at (-26.2, -25.5). A pedestrian with ID 21 is 43.6 meters away at (2.4, -43.6). A vehicle with ID 15 is 44.6 meters away at (-43.8, -8.4). A unknown object with ID 22 is 45.7 meters away at (-45.7, 1.8).

The vehicle with ID 13 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 [-0.87096345  0.97968227] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.7951058  0.8176001] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.16294846 -0.00125196] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.9998208 0.4174756] m/s.The vehicle with ID 15 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 4.4) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 6.8 meters away at (-0.7, -6.8). A pedestrian with ID 12 is 8.7 meters away at (-0.8, -8.7). A vehicle with ID 13 is 11.8 meters away at (11.0, -4.1). A vehicle with ID 25 is 24.8 meters away at (-5.4, 24.2). A vehicle with ID 8 is 34.6 meters away at (-32.4, -12.2). A vehicle with ID 9 is 35.8 meters away at (-17.5, -31.2). A unknown object with ID 4 is 38.7 meters away at (-27.2, 27.5). A unknown object with ID 33 is 40.5 meters away at (-28.6, 28.7). A vehicle with ID 1 is 50.1 meters away at (-35.2, 35.6). A vehicle with ID 3 is 55.4 meters away at (-46.5, 30.1).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.75444627  0.69869846] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.832754   0.8821833] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.7) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 70 is 5.5 meters away at (5.5, 0.7). A vehicle with ID 68 is 10.4 meters away at (9.9, -3.2). A vehicle with ID 83 is 11.0 meters away at (1.7, -10.9). A vehicle with ID 88 is 19.9 meters away at (-19.0, 6.2). A vehicle with ID 67 is 23.2 meters away at (19.9, -11.8). A vehicle with ID 72 is 25.7 meters away at (2.1, -25.6). A vehicle with ID 73 is 28.5 meters away at (16.6, -23.2). A vehicle with ID 86 is 31.7 meters away at (-21.2, 23.5). A pedestrian with ID 87 is 33.8 meters away at (-32.7, 8.7). A vehicle with ID 17 is 34.1 meters away at (25.9, -22.1).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [10.756606 -8.975706] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 9.580815 -8.139629] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [10.806256 -9.320388] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.00117908 -0.00102836] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.4281783  5.443609 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 5.4) 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 50 is 11.3 meters away at (-11.3, -0.6). A vehicle with ID 86 is 14.8 meters away at (-8.1, 12.4). A pedestrian with ID 87 is 19.8 meters away at (-19.6, -2.5). A vehicle with ID 70 is 21.4 meters away at (18.5, -10.6). A vehicle with ID 88 is 27.1 meters away at (14.6, -22.9). A vehicle with ID 68 is 27.2 meters away at (23.0, -14.5). A vehicle with ID 84 is 32.8 meters away at (-30.2, 12.7). A vehicle with ID 17 is 33.9 meters away at (25.7, -22.1). A vehicle with ID 21 is 39.1 meters away at (-32.3, 22.0). A vehicle with ID 72 is 39.9 meters away at (15.2, -36.9).

The vehicle with ID 50 is traveling at a (x, y) velocity of [ 9.246694 -6.977395] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.002601   -0.01077928] m/s.The vehicle with ID 70 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 [10.9833975 -9.658918 ] m/s.The vehicle with ID 68 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 [-5.4109554 -2.1839514] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-6.9469748  5.847543 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.226654   3.1393144] m/s.The vehicle with ID 72 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 (-7.2, 5.3) m/s. Its current heading (yaw) is 2.51 radians with an angular velocity of 2.51 rad/s.

The most relevant actors are: A vehicle with ID 86 is 5.4 meters away at (5.2, 1.5). A pedestrian with ID 87 is 14.8 meters away at (-6.3, -13.4). A vehicle with ID 84 is 25.7 meters away at (-24.7, -7.0). A vehicle with ID 17 is 33.3 meters away at (25.4, -21.6). A vehicle with ID 50 is 33.9 meters away at (21.1, -26.5). A pedestrian with ID 12 is 37.6 meters away at (-7.6, 36.9). A vehicle with ID 70 is 38.5 meters away at (31.8, -21.6). A vehicle with ID 37 is 38.6 meters away at (0.2, 38.6). A vehicle with ID 21 is 39.2 meters away at (-35.3, 16.9). A vehicle with ID 60 is 44.2 meters away at (4.6, 44.0).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.00994504 -0.00082692] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.3305516 -6.367296 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-7.0350504  5.945327 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 9.57901 -7.92334] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.84023345 -1.2339221 ] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-8.108536   2.7022448] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 3.8) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A vehicle with ID 86 is 22.1 meters away at (20.6, -7.8). A pedestrian with ID 87 is 24.6 meters away at (9.3, -22.7). A pedestrian with ID 12 is 25.8 meters away at (5.9, 25.1). A pedestrian with ID 38 is 25.8 meters away at (21.6, 14.1). A vehicle with ID 84 is 33.1 meters away at (-13.5, -30.2). A vehicle with ID 37 is 33.3 meters away at (15.8, 29.3). A vehicle with ID 17 is 33.4 meters away at (27.3, -19.2). A pedestrian with ID 39 is 34.3 meters away at (27.0, 21.2). A pedestrian with ID 30 is 35.1 meters away at (27.5, 21.9). A vehicle with ID 47 is 35.8 meters away at (-17.6, -31.2).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [ 0.05178405 -0.08950742] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1149852 -1.319678 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.84642124 1.0366572 ] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [-2.3610616 -7.2282424] m/s.The vehicle with ID 37 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 [-5.9010344  5.0554667] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.4854403 0.5704378] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.53768384 0.7679315 ] m/s.The vehicle with ID 47 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 (0.6, 0.8) m/s. Its current heading (yaw) is 0.91 radians with an angular velocity of 0.91 rad/s.

The most relevant actors are: A pedestrian with ID 16 is 11.5 meters away at (-7.3, -8.9). A vehicle with ID 22 is 15.3 meters away at (13.5, 7.3). A unknown object with ID 21 is 18.9 meters away at (16.1, -9.9). A unknown object with ID 23 is 20.8 meters away at (18.8, 9.0). A vehicle with ID 4 is 36.5 meters away at (-19.2, 31.1).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00141019 0.0051504 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 1.8232876 -3.3938134] 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 23 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.

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 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A pedestrian with ID 16 is 12.2 meters away at (-7.8, -9.5). A vehicle with ID 22 is 15.2 meters away at (15.2, 0.2). A unknown object with ID 23 is 20.2 meters away at (18.3, 8.5). A vehicle with ID 4 is 36.3 meters away at (-19.9, 30.3).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01500001 -0.10323656] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 0.15419284 -3.5541732 ] m/s.The unknown object with ID 23 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.2) m/s. Its current heading (yaw) is 0.90 radians with an angular velocity of 0.90 rad/s.

The most relevant actors are: A pedestrian with ID 16 is 14.3 meters away at (-9.0, -11.1). A vehicle with ID 22 is 14.7 meters away at (12.3, -8.1). A unknown object with ID 23 is 18.3 meters away at (17.0, 7.0). A vehicle with ID 4 is 35.8 meters away at (-21.0, 28.9). A unknown object with ID 11 is 51.9 meters away at (-37.7, 35.6).

The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01011645  0.00750976] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-1.7584088 -3.3240216] m/s.The unknown object with ID 23 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 unknown object with ID 11 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 (0.6, 2.0) m/s. Its current heading (yaw) is 1.26 radians with an angular velocity of 1.26 rad/s.

The most relevant actors are: A unknown object with ID 7 is 10.8 meters away at (-9.9, -4.4). A unknown object with ID 23 is 15.7 meters away at (15.2, 3.7). A vehicle with ID 22 is 16.8 meters away at (5.1, -16.0). A pedestrian with ID 1 is 17.6 meters away at (-14.0, 10.7). A pedestrian with ID 16 is 17.8 meters away at (-10.9, -14.1). A unknown object with ID 17 is 19.7 meters away at (12.5, -15.2). A unknown object with ID 8 is 23.7 meters away at (15.6, -17.8). A unknown object with ID 3 is 25.6 meters away at (-17.1, 19.1). A vehicle with ID 4 is 34.4 meters away at (-22.8, 25.7).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-3.63827  -1.554453] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00633218 0.00362945] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01436553 -0.03689096] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.3) 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 unknown object with ID 14 is 13.6 meters away at (8.7, -10.5). A unknown object with ID 20 is 14.3 meters away at (-0.8, -14.3). A vehicle with ID 5 is 32.3 meters away at (30.6, -10.5). A vehicle with ID 23 is 41.9 meters away at (-39.8, 13.1). A pedestrian with ID 26 is 63.7 meters away at (63.0, -9.5). A pedestrian with ID 27 is 63.9 meters away at (63.3, -8.7). A pedestrian with ID 13 is 64.6 meters away at (64.0, -8.4). A vehicle with ID 21 is 66.1 meters away at (65.0, -12.1). A vehicle with ID 22 is 72.4 meters away at (71.0, -14.3). A unknown object with ID 19 is 77.9 meters away at (77.1, -10.8).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 pedestrian with ID 26 is traveling at a (x, y) velocity of [-9.2512506e-05  4.2477060e-02] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01416475 0.00308267] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00714194 -0.00245045] 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. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A unknown object with ID 20 is 14.2 meters away at (-1.1, -14.2). A vehicle with ID 5 is 31.9 meters away at (30.1, -10.3). A vehicle with ID 23 is 42.3 meters away at (-40.2, 13.2). A unknown object with ID 15 is 46.1 meters away at (-39.0, 24.6). A vehicle with ID 21 is 65.7 meters away at (64.6, -11.9). A vehicle with ID 22 is 72.0 meters away at (70.6, -14.2).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.2) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A unknown object with ID 20 is 14.1 meters away at (-1.5, -14.1). A unknown object with ID 12 is 30.3 meters away at (29.6, 6.8). A vehicle with ID 5 is 31.5 meters away at (29.7, -10.2). A vehicle with ID 23 is 42.6 meters away at (-40.4, 13.4). A pedestrian with ID 18 is 63.0 meters away at (62.3, -9.3). A pedestrian with ID 2 is 63.5 meters away at (62.9, -8.4). A vehicle with ID 21 is 65.3 meters away at (64.2, -12.0). A vehicle with ID 22 is 71.6 meters away at (70.2, -14.2). A unknown object with ID 10 is 78.1 meters away at (77.3, -11.1). A vehicle with ID 4 is 78.6 meters away at (76.8, -16.6).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 pedestrian with ID 18 is traveling at a (x, y) velocity of [-2.8950433e-05 -5.7634070e-06] m/s.The pedestrian with ID 2 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. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -0.7) m/s. Its current heading (yaw) is -0.17 radians with an angular velocity of -0.17 rad/s.

The most relevant actors are: A unknown object with ID 20 is 14.5 meters away at (-6.2, -13.1). A unknown object with ID 12 is 25.6 meters away at (24.3, 7.9). A vehicle with ID 5 is 26.7 meters away at (25.0, -9.3). A vehicle with ID 3 is 40.5 meters away at (33.5, -22.6). A vehicle with ID 23 is 47.4 meters away at (-45.2, 14.2). A pedestrian with ID 18 is 58.2 meters away at (57.6, -8.3). A pedestrian with ID 1 is 58.3 meters away at (57.8, -7.6). A pedestrian with ID 2 is 59.1 meters away at (58.7, -7.4). A vehicle with ID 21 is 60.6 meters away at (59.6, -11.0). A vehicle with ID 22 is 66.8 meters away at (65.5, -13.1).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.01302406  0.00330023] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00043177 0.02005219] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.01289633 0.02902481] 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. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -4.9) m/s. Its current heading (yaw) is -2.31 radians with an angular velocity of -2.31 rad/s.

The most relevant actors are: A vehicle with ID 19 is 24.7 meters away at (-16.8, -18.1). A vehicle with ID 4 is 28.6 meters away at (-25.3, -13.4). A vehicle with ID 5 is 34.6 meters away at (-18.7, -29.2). A vehicle with ID 20 is 42.1 meters away at (21.2, 36.3). A vehicle with ID 25 is 53.1 meters away at (30.1, 43.8). A vehicle with ID 24 is 56.1 meters away at (37.5, 41.7). A pedestrian with ID 27 is 57.6 meters away at (-43.5, -37.8). A vehicle with ID 12 is 67.6 meters away at (-44.4, -51.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [1.7810428 6.243566 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 4.2651377  -0.49065813] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.7377295 0.9175634] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9476607 -1.1092553] m/s.The vehicle with ID 12 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 (-2.5, -2.6) m/s. Its current heading (yaw) is -2.33 radians with an angular velocity of -2.33 rad/s.

The most relevant actors are: A vehicle with ID 5 is 10.0 meters away at (-3.8, -9.2). A vehicle with ID 19 is 14.7 meters away at (-10.0, -10.8). A pedestrian with ID 27 is 50.4 meters away at (-38.6, -32.3). A vehicle with ID 20 is 51.8 meters away at (28.0, 43.6). A vehicle with ID 6 is 57.2 meters away at (-35.1, -45.1). A vehicle with ID 13 is 61.1 meters away at (-57.4, 20.9). A vehicle with ID 25 is 69.3 meters away at (46.0, 51.8). A vehicle with ID 24 is 75.3 meters away at (53.2, 53.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [5.8305063 6.676143 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8866052  -0.88760144] m/s.The vehicle with ID 20 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 [3.2028427 3.5577056] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [4.8383837 1.2087133] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.4713287 2.8778415] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -0.6) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A vehicle with ID 19 is 10.4 meters away at (-7.1, -7.6). A vehicle with ID 5 is 14.5 meters away at (11.9, 8.3). A vehicle with ID 6 is 45.5 meters away at (-27.3, -36.4). A pedestrian with ID 27 is 48.9 meters away at (-37.6, -31.2). A vehicle with ID 3 is 60.9 meters away at (35.8, 49.2).

The vehicle with ID 19 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 [6.795463 7.487997] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [1.9981447 2.1920907] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.9203196 -0.9420984] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 0.8678327 -4.9970717] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A vehicle with ID 19 is 10.1 meters away at (-6.9, -7.4). A vehicle with ID 5 is 35.9 meters away at (26.6, 24.1). A vehicle with ID 6 is 39.7 meters away at (-22.8, -32.6). A vehicle with ID 3 is 50.2 meters away at (32.6, 38.2). A pedestrian with ID 27 is 51.1 meters away at (-39.2, -32.8).

The vehicle with ID 19 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 [7.7880225 8.363626 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [2.8365374 1.0270686] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.3929744 -5.838214 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.8669531 -0.7867916] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -3.8) m/s. Its current heading (yaw) is -1.75 radians with an angular velocity of -1.75 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 32.7 meters away at (-32.7, 1.7). A vehicle with ID 12 is 33.7 meters away at (-5.2, 33.3). A vehicle with ID 14 is 38.5 meters away at (-4.1, 38.3). A vehicle with ID 15 is 44.4 meters away at (-3.0, 44.3). A vehicle with ID 16 is 49.7 meters away at (-2.0, 49.6). A vehicle with ID 17 is 55.3 meters away at (8.5, -54.6). A vehicle with ID 18 is 66.8 meters away at (1.2, -66.8).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.1419729  -0.62712234] m/s.The vehicle with ID 12 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.979226   4.7817225] m/s.The vehicle with ID 18 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 (-3.4, -1.9) m/s. Its current heading (yaw) is -2.62 radians with an angular velocity of -2.62 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 27.4 meters away at (-26.5, 7.2). A vehicle with ID 17 is 39.3 meters away at (8.2, -38.4). A vehicle with ID 12 is 39.4 meters away at (-1.3, 39.4). A vehicle with ID 14 is 44.3 meters away at (-0.1, 44.3). A vehicle with ID 15 is 50.3 meters away at (1.0, 50.3). A vehicle with ID 16 is 55.7 meters away at (2.0, 55.7). A vehicle with ID 18 is 60.9 meters away at (5.1, -60.7). A vehicle with ID 6 is 62.9 meters away at (20.0, -59.6).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.1727585  0.01401807] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.1968899  5.6750393] m/s.The vehicle with ID 12 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 15 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 18 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 [-3.454011   5.3721313] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, -0.7) m/s. Its current heading (yaw) is -2.98 radians with an angular velocity of -2.98 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 18.9 meters away at (-16.2, 9.9). A vehicle with ID 17 is 27.2 meters away at (12.2, -24.3). A vehicle with ID 12 is 42.3 meters away at (6.9, 41.7). A vehicle with ID 14 is 47.3 meters away at (8.0, 46.6). A vehicle with ID 6 is 51.6 meters away at (21.4, -46.9). A vehicle with ID 15 is 53.2 meters away at (9.0, 52.5). A vehicle with ID 16 is 58.7 meters away at (10.2, 57.8). A vehicle with ID 18 is 59.9 meters away at (13.0, -58.4).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [1.2326822  0.26237687] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.4004135  6.1417627] m/s.The vehicle with ID 12 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 6 is traveling at a (x, y) velocity of [-3.0969923  5.4706573] m/s.The vehicle with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -1.0) m/s. Its current heading (yaw) is -2.96 radians with an angular velocity of -2.96 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 12.9 meters away at (-4.0, 12.3). A unknown object with ID 9 is 13.7 meters away at (-6.5, 12.0). A vehicle with ID 17 is 22.4 meters away at (20.3, -9.6). A vehicle with ID 12 is 46.7 meters away at (17.2, 43.4). A vehicle with ID 1 is 52.8 meters away at (-48.0, -21.9).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.75552034 0.22427343] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.9401963  6.8826556] m/s.The vehicle with ID 12 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 [-1.4520789  4.5318074] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 6.5) m/s. Its current heading (yaw) is 1.64 radians with an angular velocity of 1.64 rad/s.

The most relevant actors are: A unknown object with ID 45 is 25.7 meters away at (6.4, 24.9). A vehicle with ID 43 is 27.1 meters away at (11.5, -24.5). A unknown object with ID 46 is 27.4 meters away at (8.0, 26.2). A pedestrian with ID 47 is 34.6 meters away at (2.0, 34.5). A pedestrian with ID 9 is 34.9 meters away at (2.7, 34.8). A pedestrian with ID 8 is 35.6 meters away at (2.3, 35.6). A vehicle with ID 44 is 45.1 meters away at (17.1, 41.8). A vehicle with ID 49 is 47.9 meters away at (14.2, 45.7). A vehicle with ID 14 is 48.1 meters away at (32.7, 35.3). A vehicle with ID 52 is 50.5 meters away at (22.0, 45.5).

The unknown object with ID 45 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 46 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 [-0.04857699  0.03351125] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.01086041 0.03175835] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.0227016   0.05681201] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.1527208  -0.75701547] m/s.The vehicle with ID 49 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 52 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 (-0.4, 6.9) m/s. Its current heading (yaw) is 1.63 radians with an angular velocity of 1.63 rad/s.

The most relevant actors are: A pedestrian with ID 47 is 21.2 meters away at (2.8, 21.0). A vehicle with ID 12 is 21.4 meters away at (11.4, 18.1). A pedestrian with ID 9 is 21.5 meters away at (3.4, 21.2). A pedestrian with ID 8 is 22.5 meters away at (2.7, 22.3). A vehicle with ID 44 is 32.0 meters away at (17.7, 26.6). A vehicle with ID 34 is 34.6 meters away at (27.4, 21.1). A vehicle with ID 49 is 35.4 meters away at (14.9, 32.0). A vehicle with ID 52 is 39.1 meters away at (22.8, 31.8). A vehicle with ID 14 is 40.0 meters away at (33.6, 21.7). A vehicle with ID 43 is 40.0 meters away at (12.3, -38.1).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.01875455  0.01102727] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.00284114 0.016922  ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.01794954 0.04348838] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.22155881 -0.98394936] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 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 (-0.3, 7.0) m/s. Its current heading (yaw) is 1.61 radians with an angular velocity of 1.61 rad/s.

The most relevant actors are: A pedestrian with ID 47 is 7.9 meters away at (3.5, 7.1). A pedestrian with ID 9 is 8.5 meters away at (4.0, 7.5). A pedestrian with ID 8 is 9.1 meters away at (3.5, 8.5). A vehicle with ID 12 is 12.8 meters away at (12.1, 4.2). A vehicle with ID 44 is 22.3 meters away at (19.4, 11.0). A vehicle with ID 18 is 23.5 meters away at (22.7, 6.0). A vehicle with ID 49 is 24.0 meters away at (15.6, 18.2). A vehicle with ID 27 is 27.4 meters away at (20.9, 17.7). A unknown object with ID 42 is 27.6 meters away at (9.7, 25.9). A unknown object with ID 40 is 28.8 meters away at (8.6, 27.5).

The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.02257455 0.04121645] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.06378379  0.04737119] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00428521 -0.00103135] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.41879523 -0.6507055 ] m/s.The vehicle with ID 18 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 7.4) m/s. Its current heading (yaw) is 1.63 radians with an angular velocity of 1.63 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 7.3 meters away at (4.2, -6.0). A pedestrian with ID 9 is 8.1 meters away at (4.6, -6.7). A pedestrian with ID 47 is 8.4 meters away at (4.2, -7.3). A unknown object with ID 42 is 15.5 meters away at (10.4, 11.4). A unknown object with ID 40 is 16.0 meters away at (9.3, 13.1). A vehicle with ID 12 is 16.3 meters away at (12.8, -10.2). A vehicle with ID 49 is 16.7 meters away at (16.3, 3.7). A unknown object with ID 41 is 17.7 meters away at (9.3, 15.0). A unknown object with ID 7 is 19.4 meters away at (9.3, 17.0). A vehicle with ID 44 is 20.2 meters away at (19.9, -3.4).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [ 0.00553107 -0.00056806] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00382667  0.00467694] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.01497082 -0.00962803] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.39727488  0.20479925] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -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 97 is 8.9 meters away at (-4.1, -8.0). A vehicle with ID 19 is 15.0 meters away at (3.2, 14.7). A vehicle with ID 103 is 17.9 meters away at (3.0, 17.7). A vehicle with ID 95 is 19.7 meters away at (-17.9, -8.2). A vehicle with ID 20 is 21.5 meters away at (3.5, 21.2). A vehicle with ID 87 is 24.4 meters away at (-10.1, 22.2). A vehicle with ID 107 is 25.9 meters away at (-12.6, -22.7). A vehicle with ID 93 is 26.3 meters away at (-13.6, 22.5). A vehicle with ID 108 is 26.8 meters away at (-15.3, -22.0). A vehicle with ID 109 is 28.4 meters away at (-18.0, -21.9).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 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, 0.0) 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 97 is 9.4 meters away at (-5.0, -7.9). A vehicle with ID 19 is 14.9 meters away at (2.3, 14.7). A vehicle with ID 112 is 17.1 meters away at (-17.1, -0.2). A vehicle with ID 95 is 20.6 meters away at (-18.9, -8.3). A vehicle with ID 20 is 21.3 meters away at (2.6, 21.1). A vehicle with ID 87 is 24.8 meters away at (-11.0, 22.2). A vehicle with ID 107 is 26.4 meters away at (-13.7, -22.5). A vehicle with ID 93 is 26.8 meters away at (-14.5, 22.6). A vehicle with ID 108 is 27.4 meters away at (-16.3, -22.0). A unknown object with ID 47 is 27.9 meters away at (-12.9, -24.7).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [5.570431   0.02498892] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 0.4) m/s. Its current heading (yaw) is 0.15 radians with an angular velocity of 0.15 rad/s.

The most relevant actors are: A unknown object with ID 29 is 9.5 meters away at (1.7, 9.3). A vehicle with ID 97 is 11.3 meters away at (-7.9, -8.1). A vehicle with ID 112 is 11.8 meters away at (-11.8, -0.2). A vehicle with ID 19 is 14.5 meters away at (-0.4, 14.5). A vehicle with ID 3 is 17.4 meters away at (-0.1, 17.4). A vehicle with ID 20 is 20.9 meters away at (0.1, 20.9). A vehicle with ID 95 is 23.1 meters away at (-21.5, -8.3). A vehicle with ID 87 is 25.9 meters away at (-13.6, 22.1). A vehicle with ID 107 is 28.1 meters away at (-16.4, -22.8). A vehicle with ID 93 is 28.2 meters away at (-17.1, 22.5).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [2.8072057  0.03247835] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 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 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.3) m/s. Its current heading (yaw) is 0.77 radians with an angular velocity of 0.77 rad/s.

The most relevant actors are: A unknown object with ID 29 is 8.1 meters away at (-5.4, 6.1). A vehicle with ID 19 is 13.4 meters away at (-7.2, 11.3). A vehicle with ID 112 is 14.1 meters away at (-13.7, -3.4). A vehicle with ID 3 is 16.0 meters away at (-7.1, 14.3). A vehicle with ID 97 is 18.6 meters away at (-14.8, -11.3). A vehicle with ID 20 is 19.1 meters away at (-6.9, 17.8). A vehicle with ID 87 is 28.0 meters away at (-20.6, 18.9). A vehicle with ID 73 is 30.2 meters away at (27.7, -12.2). A vehicle with ID 95 is 30.8 meters away at (-28.6, -11.4). A vehicle with ID 93 is 30.8 meters away at (-24.1, 19.2).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [2.509223   0.12499797] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.97 radians with an angular velocity of -0.97 rad/s.

The most relevant actors are: A vehicle with ID 11 is 9.8 meters away at (-5.1, 8.3). A vehicle with ID 13 is 12.7 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.8 meters away at (-10.1, 17.1). A unknown object with ID 17 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.4 meters away at (-23.0, 21.4). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 21 is 36.9 meters away at (-27.5, 24.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 30 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 36 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: 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 -0.97 radians with an angular velocity of -0.97 rad/s.

The most relevant actors are: A vehicle with ID 11 is 9.3 meters away at (-4.8, 7.9). A vehicle with ID 13 is 12.8 meters away at (9.3, -8.9). A vehicle with ID 20 is 19.8 meters away at (-10.1, 17.1). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 31.0 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.3 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 21 is 36.9 meters away at (-27.5, 24.6). A unknown object with ID 22 is 37.1 meters away at (-25.7, 26.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ 0.15265839 -0.27451286] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 30 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 36 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.97 radians with an angular velocity of -0.97 rad/s.

The most relevant actors are: A vehicle with ID 11 is 8.7 meters away at (-4.5, 7.4). A vehicle with ID 13 is 12.8 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.6 meters away at (-10.0, 16.8). A unknown object with ID 14 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.3 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 4 is 33.6 meters away at (23.0, -24.4).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 31 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 30 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 -0.97 radians with an angular velocity of -0.97 rad/s.

The most relevant actors are: A vehicle with ID 11 is 8.6 meters away at (-4.5, 7.4). A vehicle with ID 13 is 12.8 meters away at (9.2, -8.8). A vehicle with ID 20 is 19.8 meters away at (-10.3, 17.0). A unknown object with ID 14 is 25.7 meters away at (-21.4, -14.3). A unknown object with ID 31 is 29.8 meters away at (-22.6, 19.5). A unknown object with ID 32 is 30.3 meters away at (-23.6, 18.9). A unknown object with ID 30 is 30.9 meters away at (-28.7, -11.5). A unknown object with ID 34 is 31.4 meters away at (-23.0, 21.3). A unknown object with ID 36 is 33.1 meters away at (-23.6, 23.3). A unknown object with ID 23 is 37.1 meters away at (-25.7, 26.7).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 31 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 30 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 2.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A unknown object with ID 19 is 8.8 meters away at (-8.6, 1.5). A vehicle with ID 23 is 10.2 meters away at (-5.9, 8.3). A vehicle with ID 25 is 12.4 meters away at (-8.0, 9.5). A vehicle with ID 26 is 14.8 meters away at (-9.8, 11.0). A vehicle with ID 31 is 19.1 meters away at (-4.9, 18.4). A vehicle with ID 30 is 19.5 meters away at (-19.1, -3.8). A vehicle with ID 34 is 19.8 meters away at (-19.3, 4.2). A vehicle with ID 35 is 21.4 meters away at (-21.3, -2.0). A vehicle with ID 39 is 23.3 meters away at (-23.2, -0.5). A vehicle with ID 68 is 23.4 meters away at (21.8, 8.3).

The unknown object with ID 19 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A unknown object with ID 19 is 9.8 meters away at (-9.8, 0.1). A vehicle with ID 23 is 9.8 meters away at (-7.0, 6.9). A vehicle with ID 25 is 12.2 meters away at (-9.3, 8.0). A vehicle with ID 26 is 14.6 meters away at (-11.0, 9.6). A vehicle with ID 31 is 17.4 meters away at (-5.5, 16.5). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.9). A vehicle with ID 30 is 21.0 meters away at (-20.3, -5.2). A vehicle with ID 68 is 21.1 meters away at (19.6, 7.8). A vehicle with ID 12 is 21.3 meters away at (-5.1, 20.6). A vehicle with ID 35 is 22.8 meters away at (-22.5, -3.5).

The unknown object with ID 19 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.399081  -1.2891872] m/s.The vehicle with ID 34 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 68 is traveling at a (x, y) velocity of [-1.5231706  1.1561431] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 1.4077989 -1.2748101] 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 (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 23 is 9.8 meters away at (-7.1, 6.8). A unknown object with ID 19 is 9.9 meters away at (-9.9, -0.0). A vehicle with ID 31 is 10.5 meters away at (1.1, 10.4). A vehicle with ID 25 is 12.2 meters away at (-9.3, 7.9). A vehicle with ID 26 is 14.6 meters away at (-11.1, 9.4). A vehicle with ID 12 is 16.9 meters away at (-1.0, 16.9). A vehicle with ID 68 is 18.5 meters away at (14.4, 11.7). A vehicle with ID 7 is 20.6 meters away at (-8.7, 18.7). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.7). A vehicle with ID 30 is 21.1 meters away at (-20.4, -5.3).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 4.9738936 -4.3448863] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 3.002005  -2.5464048] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-3.2930577  2.5527496] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 4.334188 -3.785738] m/s.The vehicle with ID 34 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 (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 7 is 9.1 meters away at (2.8, 8.7). A vehicle with ID 23 is 9.8 meters away at (-7.1, 6.7). A unknown object with ID 19 is 9.9 meters away at (-9.9, -0.1). A vehicle with ID 25 is 12.3 meters away at (-9.4, 7.9). A vehicle with ID 12 is 12.4 meters away at (6.1, 10.8). A vehicle with ID 31 is 13.6 meters away at (13.6, 0.0). A vehicle with ID 26 is 14.6 meters away at (-11.1, 9.4). A vehicle with ID 68 is 19.2 meters away at (6.4, 18.1). A vehicle with ID 62 is 20.6 meters away at (19.2, 7.7). A vehicle with ID 34 is 20.7 meters away at (-20.5, 2.7).

The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.021856 -5.898229] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 [ 4.0623236 -3.448467 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 7.806793  -5.9039116] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-4.2790136  3.755732 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-3.8249252  3.195113 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -1.1) m/s. Its current heading (yaw) is -0.62 radians with an angular velocity of -0.62 rad/s.

The most relevant actors are: A unknown object with ID 28 is 6.3 meters away at (2.0, 5.9). A unknown object with ID 29 is 6.3 meters away at (3.9, 4.9). A unknown object with ID 32 is 7.5 meters away at (5.7, 4.9). A unknown object with ID 30 is 7.5 meters away at (2.4, 7.1). A unknown object with ID 34 is 8.1 meters away at (5.6, 5.9). A unknown object with ID 36 is 12.7 meters away at (-10.4, -7.2). A pedestrian with ID 35 is 12.8 meters away at (-12.0, -4.5). A vehicle with ID 33 is 15.8 meters away at (-14.2, 7.1). A vehicle with ID 42 is 17.4 meters away at (13.7, -10.6). A unknown object with ID 39 is 19.7 meters away at (-7.3, 18.3).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.02176467 0.00886232] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.694185   6.6766896] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.9732542 -4.2971973] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -0.1) m/s. Its current heading (yaw) is -0.03 radians with an angular velocity of -0.03 rad/s.

The most relevant actors are: A unknown object with ID 32 is 6.7 meters away at (0.7, 6.7). A unknown object with ID 29 is 6.8 meters away at (-1.1, 6.7). A unknown object with ID 34 is 7.7 meters away at (0.6, 7.7). A unknown object with ID 28 is 8.2 meters away at (-3.0, 7.7). A unknown object with ID 36 is 16.4 meters away at (-15.5, -5.4). A vehicle with ID 42 is 17.1 meters away at (0.8, -17.0). A pedestrian with ID 35 is 17.3 meters away at (-17.1, -2.6). A unknown object with ID 40 is 23.5 meters away at (-10.4, 21.0). A unknown object with ID 39 is 23.6 meters away at (-12.3, 20.1). A unknown object with ID 38 is 23.7 meters away at (-13.0, 19.8).

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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-3.936357  -4.1530166] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00348832  0.0240395 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 3.0) m/s. Its current heading (yaw) is 0.62 radians with an angular velocity of 0.62 rad/s.

The most relevant actors are: A unknown object with ID 32 is 8.4 meters away at (-7.5, 4.0). A unknown object with ID 34 is 9.1 meters away at (-7.6, 5.0). A unknown object with ID 29 is 10.1 meters away at (-9.3, 4.0). A unknown object with ID 28 is 12.1 meters away at (-11.0, 4.9). A unknown object with ID 12 is 12.5 meters away at (-10.9, 6.0). A unknown object with ID 36 is 25.0 meters away at (-23.6, -8.3). A pedestrian with ID 35 is 25.8 meters away at (-25.2, -5.3). A unknown object with ID 18 is 25.9 meters away at (-24.1, -9.5). A unknown object with ID 38 is 27.3 meters away at (-21.4, 16.9). A pedestrian with ID 46 is 28.7 meters away at (4.4, -28.3).

The unknown object with ID 32 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.01140488  0.00023789] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-1.1555406  -0.47420612] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 4.7) m/s. Its current heading (yaw) is 0.81 radians with an angular velocity of 0.81 rad/s.

The most relevant actors are: A unknown object with ID 34 is 16.4 meters away at (-16.2, -2.9). A unknown object with ID 32 is 16.5 meters away at (-16.0, -3.9). A unknown object with ID 23 is 16.9 meters away at (-16.5, -3.4). A vehicle with ID 21 is 17.8 meters away at (-17.6, -2.8). A unknown object with ID 29 is 18.3 meters away at (-17.8, -3.9). A unknown object with ID 10 is 18.6 meters away at (-18.3, -2.9). A unknown object with ID 12 is 19.4 meters away at (-19.4, -1.7). A unknown object with ID 28 is 19.9 meters away at (-19.7, -3.0). A unknown object with ID 5 is 24.0 meters away at (13.6, 19.8). A unknown object with ID 14 is 26.2 meters away at (15.6, 21.0).

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 23 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -1.7) m/s. Its current heading (yaw) is -0.29 radians with an angular velocity of -0.29 rad/s.

The most relevant actors are: A vehicle with ID 11 is 38.9 meters away at (36.1, -14.6). A vehicle with ID 21 is 47.3 meters away at (46.2, 10.1). A vehicle with ID 10 is 70.2 meters away at (68.0, 17.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.5706099  6.636923 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [5.3954625 7.0909796] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.9856534 -7.384851 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, -1.7) 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 vehicle with ID 11 is 29.8 meters away at (29.6, 3.0). A vehicle with ID 10 is 48.4 meters away at (47.5, 8.9). A vehicle with ID 13 is 54.2 meters away at (45.6, 29.2).

The vehicle with ID 11 is traveling at a (x, y) velocity of [5.0512476 7.329248 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.243391 -4.879969] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.8785686 8.7851305] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -0.5) m/s. Its current heading (yaw) is -0.09 radians with an angular velocity of -0.09 rad/s.

The most relevant actors are: A vehicle with ID 10 is 31.3 meters away at (31.0, 4.3). A vehicle with ID 11 is 38.5 meters away at (32.0, 21.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.5684083 -2.5559812] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [6.7342954 8.88386  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 2.3) m/s. Its current heading (yaw) is 0.48 radians with an angular velocity of 0.48 rad/s.

The most relevant actors are: A vehicle with ID 10 is 18.4 meters away at (18.3, -0.5). A vehicle with ID 11 is 53.3 meters away at (35.5, 39.7). A vehicle with ID 17 is 77.9 meters away at (43.6, 64.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.635414  -0.6455356] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.580504 10.294783] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.9936905 7.5975842] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.0) 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 36 is 8.0 meters away at (-2.8, 7.5). A vehicle with ID 39 is 10.6 meters away at (-6.9, 8.1). A vehicle with ID 44 is 14.9 meters away at (-13.5, 6.4). A vehicle with ID 50 is 18.0 meters away at (-17.7, 2.8). A vehicle with ID 41 is 18.3 meters away at (7.1, 16.9). A vehicle with ID 38 is 18.5 meters away at (-16.9, -7.4). A vehicle with ID 47 is 19.9 meters away at (4.6, 19.3). A vehicle with ID 33 is 22.1 meters away at (-18.7, 11.8). A vehicle with ID 54 is 22.4 meters away at (-22.3, -2.0). A vehicle with ID 49 is 22.6 meters away at (-9.0, 20.7).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.668081  -5.8043694] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-7.4574537 -7.974378 ] m/s.The vehicle with ID 44 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 41 is traveling at a (x, y) velocity of [-5.09845  -4.970275] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-6.2237515 -7.1339517] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-8.362818 -7.642723] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.58898 8.32708] m/s.The vehicle with ID 54 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 [8.864907 8.802949] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -3.5) m/s. Its current heading (yaw) is -1.74 radians with an angular velocity of -1.74 rad/s.

The most relevant actors are: A vehicle with ID 36 is 11.9 meters away at (-11.7, 2.3). A vehicle with ID 41 is 13.5 meters away at (-0.6, 13.5). A vehicle with ID 47 is 13.8 meters away at (-8.3, 11.1). A vehicle with ID 44 is 17.5 meters away at (-10.4, 14.1). A vehicle with ID 50 is 18.0 meters away at (-14.7, 10.5). A vehicle with ID 39 is 18.7 meters away at (-18.7, -0.3). A vehicle with ID 54 is 20.1 meters away at (-19.3, 5.8). A unknown object with ID 22 is 25.4 meters away at (-16.5, -19.4). A vehicle with ID 73 is 27.0 meters away at (-8.4, 25.6). A vehicle with ID 51 is 27.4 meters away at (-11.3, -25.0).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.318328  -6.9454956] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.6120524 -5.9112997] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-7.8190093 -8.226459 ] m/s.The vehicle with ID 44 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 39 is traveling at a (x, y) velocity of [-7.423871 -8.386657] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [9.200654 8.92368 ] m/s.The vehicle with ID 51 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, -2.0) m/s. Its current heading (yaw) is -1.44 radians with an angular velocity of -1.44 rad/s.

The most relevant actors are: A vehicle with ID 41 is 14.1 meters away at (-12.6, 6.3). A vehicle with ID 50 is 21.7 meters away at (-14.6, 16.0). A vehicle with ID 44 is 22.1 meters away at (-10.3, 19.6). A vehicle with ID 54 is 22.2 meters away at (-19.2, 11.3). A vehicle with ID 51 is 22.4 meters away at (-11.1, -19.4). A vehicle with ID 47 is 23.3 meters away at (-23.3, -0.5). A vehicle with ID 36 is 25.4 meters away at (-24.3, -7.3). A vehicle with ID 14 is 27.8 meters away at (-19.5, 19.8). A cyclist with ID 5 is 29.3 meters away at (-25.8, 13.9). A vehicle with ID 32 is 31.8 meters away at (-27.0, 16.8).

The vehicle with ID 41 is traveling at a (x, y) velocity of [-6.7821383 -7.244346 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 47 is traveling at a (x, y) velocity of [-7.409605 -8.954627] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-6.4650707 -8.31954  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.064913 8.359733] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [7.5838003 8.590298 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [8.535395 9.50795 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -1.5) m/s. Its current heading (yaw) is -1.30 radians with an angular velocity of -1.30 rad/s.

The most relevant actors are: A vehicle with ID 51 is 20.0 meters away at (-11.9, -16.1). A vehicle with ID 54 is 24.6 meters away at (-19.8, 14.6). A vehicle with ID 50 is 24.7 meters away at (-15.2, 19.4). A vehicle with ID 44 is 25.4 meters away at (-11.0, 22.9). A vehicle with ID 41 is 28.5 meters away at (-27.5, -7.5). A cyclist with ID 21 is 29.2 meters away at (5.4, 28.7). A vehicle with ID 17 is 30.6 meters away at (-20.3, 22.9). A vehicle with ID 24 is 35.3 meters away at (-31.0, 16.9). A cyclist with ID 5 is 36.2 meters away at (-10.2, 34.7). A vehicle with ID 14 is 40.2 meters away at (-3.2, 40.0).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-7.3457656 -9.828839 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-12.805096 -12.307377] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [8.4085655 8.962028 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [7.6438193 8.824632 ] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [8.600896 8.816659] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [9.15481  8.495505] 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 -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A unknown object with ID 33 is 5.1 meters away at (-3.1, 4.0). A vehicle with ID 39 is 6.5 meters away at (6.4, 0.4). A vehicle with ID 48 is 10.2 meters away at (8.1, 6.3). A vehicle with ID 34 is 10.6 meters away at (3.6, 10.0). A vehicle with ID 50 is 10.8 meters away at (-2.9, -10.4). A vehicle with ID 44 is 16.3 meters away at (2.3, 16.1). A pedestrian with ID 22 is 19.5 meters away at (15.0, 12.5). A vehicle with ID 54 is 28.6 meters away at (-5.0, -28.2). A vehicle with ID 20 is 28.9 meters away at (6.9, -28.0). A vehicle with ID 72 is 31.5 meters away at (15.1, 27.7).

The unknown object with ID 33 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 48 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 [-0.3860608 -1.2083827] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-0.34314165 -1.1474786 ] m/s.The vehicle with ID 44 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 [0.014924   0.09886741] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 5.8752785 -1.6789302] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.075619   1.0621016] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.3) 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 unknown object with ID 33 is 7.4 meters away at (-2.2, 7.1). A vehicle with ID 39 is 8.1 meters away at (7.4, 3.3). A vehicle with ID 34 is 11.5 meters away at (3.8, 10.8). A vehicle with ID 48 is 12.9 meters away at (9.0, 9.2). A vehicle with ID 50 is 13.1 meters away at (-3.7, -12.6). A vehicle with ID 44 is 19.3 meters away at (3.3, 19.0). A pedestrian with ID 22 is 22.1 meters away at (15.9, 15.4). A vehicle with ID 3 is 22.8 meters away at (-17.7, -14.4). A vehicle with ID 20 is 24.8 meters away at (4.9, -24.3). A vehicle with ID 54 is 30.9 meters away at (9.5, -29.4).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.4462454 -1.1779736] 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 [-1.1196867 -3.416749 ] m/s.The vehicle with ID 44 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 [-0.01249941  0.0108222 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 7.308527 -2.050196] 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, -2.3) 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 39 is 12.3 meters away at (9.0, 8.5). A vehicle with ID 34 is 13.5 meters away at (4.3, 12.8). A vehicle with ID 50 is 17.5 meters away at (-5.1, -16.8). A vehicle with ID 48 is 17.9 meters away at (10.6, 14.5). A vehicle with ID 3 is 18.4 meters away at (-16.0, -9.1). A vehicle with ID 20 is 19.8 meters away at (6.1, -18.8). A vehicle with ID 52 is 19.8 meters away at (6.1, -18.8). A vehicle with ID 44 is 24.8 meters away at (4.9, 24.3). A vehicle with ID 5 is 30.6 meters away at (-5.4, -30.1). A vehicle with ID 4 is 31.7 meters away at (14.4, -28.2).

The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.8486479 -2.3608465] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.8450344 -5.7089086] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.44900146  0.13639885] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-0.94472414  0.2839775 ] m/s.The vehicle with ID 44 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 [0.22228028 0.38535702] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.82 radians with an angular velocity of -1.82 rad/s.

The most relevant actors are: A vehicle with ID 34 is 10.1 meters away at (3.1, 9.6). A vehicle with ID 39 is 14.0 meters away at (9.5, 10.3). A vehicle with ID 52 is 15.7 meters away at (2.2, -15.5). A vehicle with ID 3 is 17.0 meters away at (-15.4, -7.2). A vehicle with ID 48 is 19.8 meters away at (11.2, 16.3). A vehicle with ID 46 is 26.8 meters away at (5.5, 26.2). A vehicle with ID 1 is 26.8 meters away at (17.1, -20.7). A vehicle with ID 5 is 28.2 meters away at (-4.6, -27.8). A vehicle with ID 50 is 29.3 meters away at (-8.8, -27.9). A vehicle with ID 4 is 30.3 meters away at (14.9, -26.4).

The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.5990588 -1.7370163] m/s.The vehicle with ID 39 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 [-3.8154314  1.1798378] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-3.8464782  1.3104516] m/s.The vehicle with ID 5 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 [-2.0418015 -6.4461226] m/s.The vehicle with ID 4 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 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 18 is 19.2 meters away at (-7.8, 17.6). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.5). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.016942  -6.4424286] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.5). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 19 is 19.3 meters away at (16.4, -10.0). A vehicle with ID 18 is 20.5 meters away at (-20.1, 4.1). A vehicle with ID 9 is 22.0 meters away at (-3.5, 21.7). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.5). A vehicle with ID 33 is 28.0 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.411912 -6.977424] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.6749654 -7.0078974] m/s.The vehicle with ID 26 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.7 meters away at (8.1, -7.1). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 9 is 18.5 meters away at (-16.9, 7.5). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.3, -12.4). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.2, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.0749583 -7.5153637] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 13 is 5.4 meters away at (-4.8, -2.4). A vehicle with ID 15 is 10.4 meters away at (7.7, -7.0). A vehicle with ID 21 is 18.1 meters away at (13.1, -12.5). A vehicle with ID 19 is 19.2 meters away at (16.4, -10.0). A vehicle with ID 26 is 23.4 meters away at (18.6, -14.2). A vehicle with ID 27 is 26.5 meters away at (23.4, -12.4). A vehicle with ID 33 is 28.1 meters away at (18.6, -21.0). A vehicle with ID 32 is 28.3 meters away at (23.3, -16.1). A vehicle with ID 36 is 32.7 meters away at (27.7, -17.3). A vehicle with ID 38 is 34.3 meters away at (30.9, -14.9).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) 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 47 is 8.2 meters away at (0.8, -8.1). A pedestrian with ID 45 is 9.6 meters away at (-6.8, 6.8). A vehicle with ID 50 is 11.7 meters away at (-9.4, -7.1). A vehicle with ID 33 is 24.0 meters away at (-15.4, 18.4). A vehicle with ID 54 is 32.2 meters away at (-10.4, 30.5). A vehicle with ID 55 is 34.5 meters away at (-13.9, 31.6). A pedestrian with ID 51 is 37.9 meters away at (-20.3, -32.1). A pedestrian with ID 24 is 38.0 meters away at (-20.9, -31.8). A pedestrian with ID 21 is 39.2 meters away at (-21.2, -33.0). A vehicle with ID 30 is 39.2 meters away at (-20.5, 33.4).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.0616039   0.20779842] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.46389335 -1.1917728 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.483858  -1.1773514] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.48424828 -1.1201969 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.