The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -11.4) m/s. Its current heading (yaw) is -1.67 radians with an angular velocity of -1.67 rad/s.

The most relevant actors are: A vehicle with ID 17 is 8.7 meters away at (-3.8, -7.9). A pedestrian with ID 19 is 19.4 meters away at (8.2, -17.6). A vehicle with ID 20 is 25.6 meters away at (-5.6, -25.0). A vehicle with ID 11 is 31.5 meters away at (-6.1, -30.9). A vehicle with ID 18 is 36.9 meters away at (27.2, 25.0). A vehicle with ID 13 is 38.7 meters away at (26.6, 28.1). A vehicle with ID 14 is 42.8 meters away at (32.4, 28.0). A vehicle with ID 12 is 44.3 meters away at (8.9, 43.4). A vehicle with ID 15 is 46.5 meters away at (37.4, 27.7). A vehicle with ID 16 is 53.0 meters away at (45.4, 27.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.05814368 1.4539025 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-5.4433064   0.19411442] m/s.The vehicle with ID 13 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 12 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -11.5) m/s. Its current heading (yaw) is -1.67 radians with an angular velocity of -1.67 rad/s.

The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.4, -2.0). A vehicle with ID 11 is 8.7 meters away at (-4.0, -7.8). A pedestrian with ID 19 is 13.5 meters away at (10.6, 8.3). A vehicle with ID 17 is 15.0 meters away at (-1.6, 14.9). A vehicle with ID 6 is 49.1 meters away at (-7.4, -48.5). A vehicle with ID 18 is 52.8 meters away at (21.1, 48.3). A vehicle with ID 5 is 56.2 meters away at (-7.5, -55.7). A unknown object with ID 8 is 57.5 meters away at (2.9, 57.4). A vehicle with ID 4 is 63.9 meters away at (-7.6, -63.5). A vehicle with ID 12 is 67.4 meters away at (11.2, 66.4).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.21789074 1.3357689 ] m/s.The vehicle with ID 17 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 18 is traveling at a (x, y) velocity of [-2.76102     0.07628624] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -12.0) m/s. Its current heading (yaw) is -1.66 radians with an angular velocity of -1.66 rad/s.

The most relevant actors are: A vehicle with ID 11 is 15.8 meters away at (-1.7, 15.7). A vehicle with ID 20 is 21.7 meters away at (-1.0, 21.7). A vehicle with ID 6 is 25.3 meters away at (-4.9, -24.8). A vehicle with ID 5 is 32.4 meters away at (-5.1, -32.0). A pedestrian with ID 19 is 37.1 meters away at (13.0, 34.7). A vehicle with ID 17 is 38.6 meters away at (0.8, 38.6). A vehicle with ID 4 is 40.2 meters away at (-5.2, -39.8). A vehicle with ID 3 is 45.3 meters away at (3.8, -45.1). A vehicle with ID 2 is 59.2 meters away at (3.5, -59.1). A vehicle with ID 18 is 74.9 meters away at (20.2, 72.1).

The vehicle with ID 11 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 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 pedestrian with ID 19 is traveling at a (x, y) velocity of [0.013187  1.1756105] m/s.The vehicle with ID 17 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-1.1292782   0.03936255] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 4.0) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 10 is 6.7 meters away at (6.7, -0.6).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.7) 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 10 is 18.8 meters away at (16.3, -9.3). A pedestrian with ID 3 is 32.7 meters away at (-32.5, 3.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00478621  0.00682788] 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, 4.9) 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 10 is 33.5 meters away at (27.6, -18.9).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.1) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 18.1 meters away at (-9.1, -15.6). A pedestrian with ID 5 is 18.8 meters away at (-9.7, -16.1). A vehicle with ID 10 is 51.7 meters away at (41.5, -30.8).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.04359098 -0.00263512] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00211358 0.01816657] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.2632067 -2.1579514] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-12.1, -0.2) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A unknown object with ID 111 is 21.8 meters away at (21.0, 5.6). A unknown object with ID 113 is 23.6 meters away at (-22.9, 5.8). A unknown object with ID 103 is 33.7 meters away at (31.5, 12.0).

The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.7, -0.1) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A unknown object with ID 90 is 32.0 meters away at (-31.5, 6.1). A unknown object with ID 100 is 33.0 meters away at (-32.5, 6.1). A unknown object with ID 112 is 34.0 meters away at (-33.5, 6.0). A unknown object with ID 111 is 45.3 meters away at (44.9, 5.9). A unknown object with ID 88 is 46.3 meters away at (45.9, 5.9). A unknown object with ID 69 is 47.2 meters away at (46.8, 5.9). A unknown object with ID 105 is 48.8 meters away at (48.4, 5.9). A unknown object with ID 65 is 50.8 meters away at (50.4, 5.9). A unknown object with ID 120 is 51.7 meters away at (51.4, 5.9). A vehicle with ID 54 is 63.5 meters away at (-62.9, 8.3).

The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 120 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.5, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A unknown object with ID 100 is 11.0 meters away at (-9.1, 6.1). A unknown object with ID 112 is 12.6 meters away at (-11.0, 6.1). A unknown object with ID 73 is 29.4 meters away at (28.8, 5.9). A unknown object with ID 84 is 33.3 meters away at (32.8, 5.9). A unknown object with ID 125 is 34.3 meters away at (33.8, 5.8). A unknown object with ID 71 is 35.3 meters away at (34.8, 5.8). A unknown object with ID 75 is 36.2 meters away at (35.7, 5.8). A vehicle with ID 54 is 40.5 meters away at (-39.7, 8.3). A unknown object with ID 50 is 47.1 meters away at (-46.7, 6.2). A unknown object with ID 126 is 48.0 meters away at (-47.6, 6.2).

The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.4, 0.0) m/s. Its current heading (yaw) is 3.14 radians with an angular velocity of 3.14 rad/s.

The most relevant actors are: A unknown object with ID 112 is 13.2 meters away at (11.8, 5.9). A unknown object with ID 100 is 14.8 meters away at (13.6, 5.9). A vehicle with ID 54 is 18.7 meters away at (-16.8, 8.2). A unknown object with ID 50 is 24.6 meters away at (-23.8, 6.1). A unknown object with ID 106 is 33.6 meters away at (-33.1, 6.1). A unknown object with ID 92 is 35.7 meters away at (-35.1, 6.2). A unknown object with ID 83 is 36.6 meters away at (-36.1, 6.2). A vehicle with ID 24 is 37.0 meters away at (-36.4, -6.7). A unknown object with ID 93 is 37.5 meters away at (-37.0, 6.2). A unknown object with ID 102 is 38.6 meters away at (-38.0, 6.2).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 3.1) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A pedestrian with ID 90 is 3.8 meters away at (-2.9, -2.4). A pedestrian with ID 92 is 5.3 meters away at (-4.5, -2.7). A pedestrian with ID 93 is 5.9 meters away at (-4.7, -3.6). A pedestrian with ID 91 is 7.3 meters away at (-4.6, -5.6). A pedestrian with ID 94 is 15.0 meters away at (4.1, 14.4). A vehicle with ID 95 is 18.4 meters away at (18.0, 3.5). A unknown object with ID 98 is 19.4 meters away at (-18.2, -6.6). A unknown object with ID 99 is 20.5 meters away at (-19.5, -6.2). A pedestrian with ID 97 is 21.7 meters away at (2.1, 21.6). A unknown object with ID 57 is 22.7 meters away at (-5.6, 22.0).

The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.5016082 1.35865  ] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.38164756 0.62762845] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [0.3480589  0.56682223] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.16993816 1.3131307 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.41267717 -0.86319774] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [10.314024  -4.5430226] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.02248311  0.00189253] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 3.4) m/s. Its current heading (yaw) is 2.70 radians with an angular velocity of 2.70 rad/s.

The most relevant actors are: A pedestrian with ID 92 is 11.5 meters away at (9.8, -6.0). A pedestrian with ID 90 is 12.2 meters away at (10.9, -5.5). A pedestrian with ID 93 is 12.3 meters away at (9.6, -7.7). A pedestrian with ID 91 is 13.1 meters away at (9.5, -9.0). A unknown object with ID 98 is 13.7 meters away at (-5.6, -12.6). A unknown object with ID 99 is 14.1 meters away at (-6.7, -12.4). A pedestrian with ID 94 is 16.3 meters away at (15.6, 5.0). A unknown object with ID 57 is 17.3 meters away at (7.3, 15.7). A unknown object with ID 71 is 17.6 meters away at (5.1, 16.8). A unknown object with ID 23 is 18.1 meters away at (3.0, 17.8).

The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.65572536 1.7073325 ] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [0.56828344 1.5388296 ] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [0.608732  1.4871821] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [0.69051665 1.615512  ] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [-0.9163596 -1.6622838] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 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 (-7.3, 3.3) m/s. Its current heading (yaw) is 2.71 radians with an angular velocity of 2.71 rad/s.

The most relevant actors are: A unknown object with ID 49 is 9.4 meters away at (-8.6, -3.7). A unknown object with ID 66 is 9.5 meters away at (-8.6, -4.1). A unknown object with ID 35 is 10.9 meters away at (-10.0, -4.4). A unknown object with ID 53 is 12.1 meters away at (-11.5, -3.5). A unknown object with ID 99 is 20.5 meters away at (7.5, -19.0). A unknown object with ID 23 is 20.5 meters away at (17.2, 11.2). A unknown object with ID 71 is 21.8 meters away at (19.3, 10.2). A unknown object with ID 57 is 23.4 meters away at (21.5, 9.2). A pedestrian with ID 107 is 23.6 meters away at (-5.0, 23.1). A pedestrian with ID 92 is 27.0 meters away at (25.3, -9.3).

The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.0658828   0.00984398] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.3659395 1.3762892] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 3.3) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A vehicle with ID 38 is 11.2 meters away at (4.2, 10.4). A unknown object with ID 35 is 12.0 meters away at (4.9, -11.0). A unknown object with ID 49 is 12.3 meters away at (6.4, -10.5). A unknown object with ID 66 is 12.5 meters away at (6.4, -10.7). A pedestrian with ID 107 is 19.0 meters away at (9.8, 16.3). A pedestrian with ID 110 is 26.0 meters away at (-7.3, 25.0). A unknown object with ID 23 is 32.5 meters away at (32.1, 4.5). A vehicle with ID 73 is 32.7 meters away at (-13.7, -29.8). A unknown object with ID 71 is 34.4 meters away at (34.3, 3.6). A vehicle with ID 17 is 34.9 meters away at (-1.1, -34.9).

The vehicle with ID 38 is traveling at a (x, y) velocity of [12.353184  -5.0981703] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.03097804 -0.00994486] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.289575    0.59827715] m/s.The unknown object with ID 23 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 unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 8.3) 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 vehicle with ID 10 is 7.3 meters away at (-6.8, 2.8). A unknown object with ID 7 is 10.2 meters away at (-9.5, -3.5). A vehicle with ID 2 is 21.0 meters away at (-1.4, -21.0). A vehicle with ID 11 is 33.7 meters away at (21.2, -26.3). A vehicle with ID 12 is 35.1 meters away at (24.4, -25.3). A vehicle with ID 13 is 44.9 meters away at (30.1, -33.3).

The vehicle with ID 10 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 2 is traveling at a (x, y) velocity of [4.2117243 4.8004284] m/s.The vehicle with ID 11 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 8.8) m/s. Its current heading (yaw) is 2.17 radians with an angular velocity of 2.17 rad/s.

The most relevant actors are: A vehicle with ID 10 is 14.2 meters away at (2.4, -14.0). A unknown object with ID 7 is 20.5 meters away at (-0.2, -20.5). A vehicle with ID 2 is 28.0 meters away at (12.8, -24.9). A vehicle with ID 11 is 52.8 meters away at (30.5, -43.2). A vehicle with ID 12 is 54.0 meters away at (33.7, -42.2). A vehicle with ID 6 is 60.5 meters away at (-39.6, 45.8).

The vehicle with ID 10 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 2 is traveling at a (x, y) velocity of [-0.02886098  7.837922  ] m/s.The vehicle with ID 11 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 6 is traveling at a (x, y) velocity of [ 6.9858737 -8.823267 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 9.7) m/s. Its current heading (yaw) is 2.23 radians with an angular velocity of 2.23 rad/s.

The most relevant actors are: A vehicle with ID 6 is 17.1 meters away at (-13.1, 11.0). A vehicle with ID 2 is 34.2 meters away at (21.5, -26.6). A vehicle with ID 10 is 36.2 meters away at (16.4, -32.3). A vehicle with ID 11 is 75.9 meters away at (44.4, -61.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 5.667521  -7.3134756] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.886508  8.69878 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 10.5) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 6 is 25.9 meters away at (13.0, -22.4). A vehicle with ID 2 is 37.7 meters away at (25.0, -28.3). A vehicle with ID 10 is 61.9 meters away at (32.4, -52.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.277837  -5.5334888] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-7.2789783 10.2645   ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 radians with an angular velocity of -2.34 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-5.8, -6.4). A vehicle with ID 26 is 18.6 meters away at (-12.2, -14.0). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A pedestrian with ID 23 is 26.0 meters away at (-12.2, -23.0). A unknown object with ID 33 is 43.6 meters away at (5.1, 43.3). A unknown object with ID 34 is 45.1 meters away at (6.8, 44.6). A unknown object with ID 35 is 47.2 meters away at (9.2, 46.3). A unknown object with ID 36 is 49.5 meters away at (11.8, 48.1). A unknown object with ID 3 is 51.7 meters away at (14.1, 49.8). A pedestrian with ID 5 is 52.0 meters away at (-52.0, -0.7).

The vehicle with ID 15 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2773186  -0.14533728] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-1.3701922  -0.22153488] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 radians with an angular velocity of -2.34 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-5.8, -6.4). A vehicle with ID 26 is 18.7 meters away at (-12.2, -14.1). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A pedestrian with ID 23 is 27.4 meters away at (-14.0, -23.5). A vehicle with ID 13 is 40.4 meters away at (29.2, 28.0). A unknown object with ID 33 is 43.5 meters away at (4.8, 43.2). A unknown object with ID 34 is 45.0 meters away at (6.7, 44.5). A unknown object with ID 35 is 47.2 meters away at (9.2, 46.3). A unknown object with ID 36 is 49.5 meters away at (11.8, 48.1). A unknown object with ID 37 is 53.7 meters away at (16.2, 51.2).

The vehicle with ID 15 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0089178  -0.14625934] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-11.11217    -7.7950897] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 radians with an angular velocity of -2.34 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-5.8, -6.4). A vehicle with ID 13 is 16.7 meters away at (9.9, 13.4). A vehicle with ID 26 is 19.3 meters away at (-12.6, -14.6). A vehicle with ID 21 is 20.7 meters away at (-16.5, -12.5). A pedestrian with ID 23 is 28.5 meters away at (-15.1, -24.2). A pedestrian with ID 12 is 32.5 meters away at (-17.0, 27.8). A unknown object with ID 33 is 43.5 meters away at (4.9, 43.3). A vehicle with ID 11 is 45.0 meters away at (31.7, 32.0). A unknown object with ID 34 is 45.0 meters away at (6.7, 44.5). A vehicle with ID 14 is 45.5 meters away at (29.1, 35.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.9133983 -6.5881457] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.33416492 -0.3797641 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03727519 -0.17592083] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.548773   0.21661362] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-10.484628   -7.6952906] m/s.The unknown object with ID 34 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 [-11.626773   -7.9945397] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 radians with an angular velocity of -2.34 rad/s.

The most relevant actors are: A vehicle with ID 13 is 3.1 meters away at (-2.1, 2.3). A vehicle with ID 15 is 8.7 meters away at (-5.8, -6.4). A vehicle with ID 26 is 19.8 meters away at (-13.0, -15.0). A vehicle with ID 21 is 20.8 meters away at (-16.5, -12.6). A vehicle with ID 14 is 20.9 meters away at (7.6, 19.5). A vehicle with ID 11 is 23.1 meters away at (14.2, 18.2). A pedestrian with ID 23 is 28.7 meters away at (-15.2, -24.4). A pedestrian with ID 12 is 31.4 meters away at (-13.8, 28.3). A vehicle with ID 17 is 40.3 meters away at (27.7, 29.3). A unknown object with ID 33 is 43.6 meters away at (5.0, 43.3).

The vehicle with ID 13 is traveling at a (x, y) velocity of [-4.3729844 -4.3522224] m/s.The vehicle with ID 15 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 21 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 [-9.915232  -7.5054126] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.209517  -6.0921082] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00060762 -0.00821302] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3569514 -0.1150947] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-9.984925 -7.231817] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 9.0) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 9.3) m/s. Its current heading (yaw) is 1.90 radians with an angular velocity of 1.90 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 9.3) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 8.9) m/s. Its current heading (yaw) is 1.98 radians with an angular velocity of 1.98 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.2) m/s. Its current heading (yaw) is 1.42 radians with an angular velocity of 1.42 rad/s.

The most relevant actors are: A unknown object with ID 37 is 13.6 meters away at (-12.3, 5.7). A unknown object with ID 51 is 27.0 meters away at (4.2, 26.6). A unknown object with ID 52 is 27.5 meters away at (2.3, 27.4). A unknown object with ID 50 is 28.1 meters away at (-25.9, 10.9). A unknown object with ID 53 is 28.2 meters away at (0.7, 28.2). A pedestrian with ID 40 is 30.9 meters away at (-0.4, 30.9). A vehicle with ID 56 is 46.6 meters away at (-46.0, -7.6). A vehicle with ID 35 is 48.5 meters away at (-47.7, -9.2). A vehicle with ID 4 is 65.4 meters away at (61.2, -23.1).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.5534365 -0.5358813] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.486643   3.8973694] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 2.4) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A unknown object with ID 51 is 21.9 meters away at (7.0, 20.8). A unknown object with ID 52 is 22.2 meters away at (5.2, 21.6). A unknown object with ID 53 is 22.7 meters away at (3.5, 22.4). A unknown object with ID 50 is 23.7 meters away at (-23.2, 5.3). A unknown object with ID 10 is 24.5 meters away at (-23.9, 5.7). A pedestrian with ID 40 is 25.0 meters away at (5.7, 24.3). A unknown object with ID 21 is 25.1 meters away at (-24.4, 6.0). A unknown object with ID 25 is 27.2 meters away at (7.0, 26.3). A vehicle with ID 56 is 45.3 meters away at (-43.3, -13.5). A vehicle with ID 35 is 47.3 meters away at (-44.8, -15.1).

The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.181392   -0.31733617] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 2.8) 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 unknown object with ID 20 is 5.0 meters away at (0.8, -5.0). A unknown object with ID 50 is 12.9 meters away at (-12.9, 0.0). A unknown object with ID 10 is 13.6 meters away at (-13.6, 0.3). A unknown object with ID 21 is 14.0 meters away at (-14.0, 0.5). A unknown object with ID 8 is 14.7 meters away at (-14.7, 1.1). A unknown object with ID 53 is 22.1 meters away at (13.6, 17.4). A unknown object with ID 36 is 22.3 meters away at (22.0, -3.7). A unknown object with ID 52 is 22.7 meters away at (15.2, 16.8). A unknown object with ID 51 is 23.4 meters away at (17.1, 15.9). A pedestrian with ID 40 is 27.0 meters away at (19.2, 19.0).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.7320391  -0.15974192] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 3.8) m/s. Its current heading (yaw) is 2.70 radians with an angular velocity of 2.70 rad/s.

The most relevant actors are: A unknown object with ID 8 is 5.9 meters away at (-0.3, -5.9). A unknown object with ID 21 is 6.3 meters away at (0.4, -6.2). A unknown object with ID 10 is 6.5 meters away at (0.8, -6.4). A unknown object with ID 50 is 6.7 meters away at (1.1, -6.6). A unknown object with ID 20 is 19.0 meters away at (15.1, -11.5). A pedestrian with ID 39 is 29.0 meters away at (-8.6, 27.6). A pedestrian with ID 26 is 29.3 meters away at (-8.0, 28.1). A vehicle with ID 56 is 31.5 meters away at (-18.7, -25.4). A vehicle with ID 35 is 33.8 meters away at (-20.1, -27.2). A vehicle with ID 27 is 34.8 meters away at (-27.9, -20.8).

The unknown object with ID 8 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1450512   0.56188214] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.1256353   0.52919346] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 (-3.5, -6.2) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 26 is 9.0 meters away at (-7.1, 5.5). A vehicle with ID 27 is 12.2 meters away at (-11.0, 5.5). A vehicle with ID 29 is 15.2 meters away at (-15.1, 1.9). A vehicle with ID 25 is 23.0 meters away at (-9.3, 21.1). A pedestrian with ID 28 is 29.7 meters away at (-0.4, 29.7). A unknown object with ID 14 is 45.2 meters away at (8.2, 44.4). A unknown object with ID 13 is 46.0 meters away at (9.8, 45.0). A pedestrian with ID 7 is 64.4 meters away at (13.5, 63.0). A pedestrian with ID 33 is 78.5 meters away at (18.7, 76.3).

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 29 is traveling at a (x, y) velocity of [0.38606712 2.4136944 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.715496  -0.5546442] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [1.037039  0.5399555] 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.25304952 -0.6396146 ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.17366047 0.5889047 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.5) m/s. Its current heading (yaw) is -2.07 radians with an angular velocity of -2.07 rad/s.

The most relevant actors are: A vehicle with ID 26 is 18.4 meters away at (-0.1, 18.4). A vehicle with ID 27 is 18.8 meters away at (-3.9, 18.4). A vehicle with ID 29 is 20.1 meters away at (-7.9, 18.5). A vehicle with ID 25 is 39.7 meters away at (-22.3, 32.8). A pedestrian with ID 28 is 44.8 meters away at (8.6, 43.9). A pedestrian with ID 4 is 58.7 meters away at (-45.4, -37.3). A unknown object with ID 14 is 59.3 meters away at (15.4, 57.2).

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 29 is traveling at a (x, y) velocity of [-0.07633398  1.0824915 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-10.115875   -0.5700776] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [1.0660067  0.69096655] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.6672792  -0.97369444] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -6.4) m/s. Its current heading (yaw) is -2.06 radians with an angular velocity of -2.06 rad/s.

The most relevant actors are: A vehicle with ID 27 is 31.3 meters away at (2.9, 31.1). A vehicle with ID 26 is 31.9 meters away at (6.7, 31.2). A vehicle with ID 29 is 32.2 meters away at (-1.0, 32.2). A pedestrian with ID 4 is 47.6 meters away at (-39.5, -26.7). A vehicle with ID 10 is 56.6 meters away at (-48.6, -28.8). A pedestrian with ID 19 is 67.1 meters away at (-62.6, -24.3).

The vehicle with ID 27 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.7570504 -0.9802265] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.0072906 -2.022208 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.15549244 -0.516311  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -6.3) m/s. Its current heading (yaw) is -2.04 radians with an angular velocity of -2.04 rad/s.

The most relevant actors are: A pedestrian with ID 4 is 37.7 meters away at (-34.1, -16.0). A vehicle with ID 27 is 44.7 meters away at (9.4, 43.7). A vehicle with ID 29 is 45.2 meters away at (5.6, 44.8). A vehicle with ID 26 is 45.7 meters away at (13.3, 43.8). A vehicle with ID 10 is 50.3 meters away at (-45.6, -21.2). A pedestrian with ID 22 is 57.2 meters away at (-56.1, -11.4).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.69380015 -0.8908905 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.4551222 -2.693239 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.00663947 0.0069707 ] 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 1.04 radians with an angular velocity of 1.04 rad/s.

The most relevant actors are: A cyclist with ID 22 is 4.3 meters away at (-0.6, -4.3). A pedestrian with ID 56 is 4.6 meters away at (3.7, -2.7). A cyclist with ID 25 is 5.6 meters away at (-2.2, -5.1). A vehicle with ID 57 is 6.3 meters away at (-5.9, 2.0). A vehicle with ID 59 is 10.1 meters away at (-9.3, -3.9). A vehicle with ID 61 is 14.4 meters away at (-11.8, -8.2). A pedestrian with ID 60 is 15.9 meters away at (-13.9, -7.7). A vehicle with ID 67 is 21.0 meters away at (20.9, 2.1). A unknown object with ID 68 is 21.2 meters away at (19.9, -7.2). A pedestrian with ID 65 is 22.6 meters away at (22.4, -3.4).

The cyclist with ID 22 is traveling at a (x, y) velocity of [-0.00908729 -0.02038346] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.70231783 -1.1794668 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.01484215 -0.00752136] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.74365705 -1.3601167 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6934201 0.8327206] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.06 radians with an angular velocity of 1.06 rad/s.

The most relevant actors are: A cyclist with ID 22 is 6.1 meters away at (-1.7, -5.9). A vehicle with ID 57 is 7.3 meters away at (-7.3, -0.3). A pedestrian with ID 56 is 7.7 meters away at (0.8, -7.6). A cyclist with ID 25 is 8.2 meters away at (-3.4, -7.4). A vehicle with ID 59 is 12.4 meters away at (-10.8, -6.2). A vehicle with ID 61 is 16.9 meters away at (-13.2, -10.5). A vehicle with ID 67 is 19.6 meters away at (19.6, -0.3). A unknown object with ID 68 is 20.9 meters away at (18.5, -9.6). A pedestrian with ID 60 is 21.0 meters away at (-16.7, -12.8). A pedestrian with ID 65 is 22.9 meters away at (22.5, -4.1).

The cyclist with ID 22 is traveling at a (x, y) velocity of [0.29050234 1.1819245 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.74233556 -1.2742158 ] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [0.2493348 0.3535065] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.71646065 -1.3412429 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.87933993 0.8045714 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 2.9) m/s. Its current heading (yaw) is 1.06 radians with an angular velocity of 1.06 rad/s.

The most relevant actors are: A cyclist with ID 22 is 8.0 meters away at (-3.2, -7.3). A cyclist with ID 25 is 11.1 meters away at (-5.0, -9.9). A vehicle with ID 57 is 11.8 meters away at (-10.4, -5.6). A pedestrian with ID 56 is 15.9 meters away at (-3.7, -15.5). A vehicle with ID 67 is 17.4 meters away at (16.5, -5.7). A vehicle with ID 59 is 18.0 meters away at (-13.8, -11.5). A vehicle with ID 13 is 21.0 meters away at (-11.1, 17.9). A unknown object with ID 68 is 21.5 meters away at (15.5, -15.0). A pedestrian with ID 65 is 22.0 meters away at (20.1, -8.9). A vehicle with ID 61 is 22.7 meters away at (-16.3, -15.9).

The cyclist with ID 22 is traveling at a (x, y) velocity of [1.0474817 2.1844478] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [0.9576648 1.5455992] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.63962525 -1.2205123 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.17446145 -0.17154591] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.3) m/s. Its current heading (yaw) is 1.43 radians with an angular velocity of 1.43 rad/s.

The most relevant actors are: A cyclist with ID 22 is 9.5 meters away at (-3.7, -8.7). A cyclist with ID 25 is 12.3 meters away at (-4.9, -11.3). A vehicle with ID 57 is 17.1 meters away at (-12.9, -11.2). A pedestrian with ID 33 is 17.4 meters away at (14.6, -9.4). A vehicle with ID 67 is 18.2 meters away at (14.0, -11.6). A vehicle with ID 13 is 18.2 meters away at (-13.4, 12.3). A vehicle with ID 19 is 19.6 meters away at (8.8, 17.5). A unknown object with ID 50 is 21.8 meters away at (-6.0, 21.0). A pedestrian with ID 65 is 22.8 meters away at (16.4, -15.9). A vehicle with ID 11 is 23.3 meters away at (-17.1, 15.8).

The cyclist with ID 22 is traveling at a (x, y) velocity of [1.138758 2.266573] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [1.1725456 1.9818894] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.08300769 -0.0009526 ] m/s.The vehicle with ID 67 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 19 is traveling at a (x, y) velocity of [-0.78977966 -1.2900262 ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.67928505 -0.65535367] m/s.The vehicle with ID 11 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 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 51 is 7.8 meters away at (4.9, 6.0). A unknown object with ID 52 is 9.1 meters away at (-8.9, 1.4). A unknown object with ID 53 is 11.0 meters away at (-0.9, 11.0). A vehicle with ID 55 is 17.4 meters away at (-16.9, -4.1). A vehicle with ID 14 is 18.3 meters away at (11.7, 14.1). A vehicle with ID 54 is 18.4 meters away at (9.0, 16.0). A vehicle with ID 56 is 20.5 meters away at (-17.6, 10.4). A vehicle with ID 57 is 21.3 meters away at (-21.2, -2.0). A vehicle with ID 58 is 27.3 meters away at (-27.1, 3.3). A vehicle with ID 59 is 28.9 meters away at (-21.5, -19.4).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.528249  3.0312245] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [2.1003544 3.0983088] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 51 is 9.4 meters away at (5.9, 7.3). A unknown object with ID 53 is 10.3 meters away at (-1.6, 10.2). A vehicle with ID 55 is 18.3 meters away at (-17.6, -5.0). A vehicle with ID 56 is 20.7 meters away at (-18.3, 9.6). A vehicle with ID 57 is 22.1 meters away at (-21.9, -2.8). A vehicle with ID 43 is 25.0 meters away at (23.2, -9.3). A vehicle with ID 54 is 27.6 meters away at (11.4, 25.1). A vehicle with ID 58 is 27.9 meters away at (-27.8, 2.5). A vehicle with ID 14 is 29.7 meters away at (19.0, 22.8). A vehicle with ID 59 is 30.0 meters away at (-22.2, -20.3).

The vehicle with ID 51 is traveling at a (x, y) velocity of [1.965501  2.5885882] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 [-0.409928  6.204064] m/s.The vehicle with ID 58 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 [5.0855117 6.2014303] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 3.4) 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 53 is 7.9 meters away at (-5.0, 6.2). A vehicle with ID 51 is 13.1 meters away at (8.9, 9.6). A unknown object with ID 44 is 13.4 meters away at (-12.9, -3.3). A vehicle with ID 56 is 22.4 meters away at (-21.6, 5.7). A vehicle with ID 28 is 22.7 meters away at (19.7, -11.4). A vehicle with ID 55 is 22.8 meters away at (-20.9, -8.9). A vehicle with ID 43 is 23.8 meters away at (19.8, -13.2). A vehicle with ID 57 is 26.2 meters away at (-25.3, -6.7). A vehicle with ID 60 is 28.8 meters away at (-3.0, 28.6). A vehicle with ID 58 is 31.2 meters away at (-31.2, -1.5).

The unknown object with ID 53 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 [4.466378  2.4139974] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.2) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A vehicle with ID 51 is 12.4 meters away at (12.3, 1.6). A unknown object with ID 53 is 12.5 meters away at (-12.3, -2.6). A vehicle with ID 60 is 22.4 meters away at (-10.3, 19.8). A vehicle with ID 26 is 24.4 meters away at (14.1, -19.9). A vehicle with ID 43 is 25.3 meters away at (12.5, -22.0). A vehicle with ID 56 is 29.1 meters away at (-28.9, -3.2). A vehicle with ID 55 is 33.4 meters away at (-28.3, -17.8). A vehicle with ID 15 is 33.6 meters away at (23.6, 24.0). A pedestrian with ID 16 is 34.2 meters away at (-4.6, 33.9). A vehicle with ID 49 is 36.1 meters away at (17.2, 31.7).

The vehicle with ID 51 is traveling at a (x, y) velocity of [ 6.0350924 -1.8397727] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1952182 -0.5930869] 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 (-5.2, 4.6) 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 7 is 43.4 meters away at (-34.8, 25.9).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.9) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A vehicle with ID 7 is 29.3 meters away at (-24.1, 16.5).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 5.2) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 7 is 14.3 meters away at (-12.8, 6.4).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.9) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A vehicle with ID 7 is 3.9 meters away at (-1.1, -3.8). A unknown object with ID 5 is 38.8 meters away at (21.3, -32.4).

The vehicle with ID 7 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.

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 0.62 radians with an angular velocity of 0.62 rad/s.

The most relevant actors are: A vehicle with ID 6 is 26.7 meters away at (7.1, 25.8). A unknown object with ID 5 is 59.9 meters away at (-34.9, -48.6). A vehicle with ID 12 is 62.7 meters away at (51.9, -35.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.452919  -15.7254925] m/s.The unknown object with ID 5 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 [  8.943791 -12.70302 ] 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 0.62 radians with an angular velocity of 0.62 rad/s.

The most relevant actors are: A vehicle with ID 6 is 30.2 meters away at (29.7, -5.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.191252 -15.435595] 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 0.62 radians with an angular velocity of 0.62 rad/s.

The most relevant actors are: A vehicle with ID 6 is 63.0 meters away at (51.8, -35.9).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ 11.07125 -14.95425] 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 0.62 radians with an angular velocity of 0.62 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 3.4) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 65 is 4.8 meters away at (4.7, 0.5). A vehicle with ID 59 is 5.1 meters away at (0.1, -5.1). A vehicle with ID 62 is 6.7 meters away at (-5.6, 3.6). A vehicle with ID 57 is 10.1 meters away at (-9.9, -1.9). A vehicle with ID 52 is 11.7 meters away at (-4.5, -10.8). A vehicle with ID 55 is 16.0 meters away at (-14.3, -7.3). A vehicle with ID 60 is 19.2 meters away at (-9.3, -16.9). A vehicle with ID 61 is 22.0 meters away at (-18.3, -12.1). A unknown object with ID 54 is 23.7 meters away at (0.3, 23.7). A unknown object with ID 74 is 23.8 meters away at (5.6, 23.1).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.4) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A vehicle with ID 65 is 3.6 meters away at (1.8, -3.1). A vehicle with ID 62 is 8.5 meters away at (-8.5, -0.0). A vehicle with ID 59 is 9.2 meters away at (-2.9, -8.8). A vehicle with ID 57 is 14.0 meters away at (-12.9, -5.5). A vehicle with ID 52 is 16.3 meters away at (-7.5, -14.5). A unknown object with ID 74 is 19.7 meters away at (2.6, 19.5). A unknown object with ID 54 is 20.3 meters away at (-2.7, 20.1). A vehicle with ID 55 is 20.4 meters away at (-17.2, -10.9). A vehicle with ID 16 is 23.2 meters away at (23.1, 1.7). A vehicle with ID 60 is 23.9 meters away at (-12.2, -20.5).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 vehicle with ID 16 is traveling at a (x, y) velocity of [-3.7583756  2.9159274] m/s.The vehicle with ID 60 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 (0.4, 0.5) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A vehicle with ID 65 is 3.8 meters away at (1.5, -3.5). A vehicle with ID 62 is 8.8 meters away at (-8.8, -0.4). A vehicle with ID 59 is 9.7 meters away at (-3.1, -9.2). A vehicle with ID 57 is 14.4 meters away at (-13.2, -6.0). A vehicle with ID 52 is 16.7 meters away at (-7.7, -14.8). A vehicle with ID 16 is 19.1 meters away at (18.6, 4.5). A unknown object with ID 74 is 19.3 meters away at (2.4, 19.2). A unknown object with ID 54 is 19.9 meters away at (-3.0, 19.7). A vehicle with ID 55 is 20.8 meters away at (-17.4, -11.4). A vehicle with ID 77 is 21.2 meters away at (-13.2, -16.6).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 [-0.85339046  0.44739002] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 vehicle with ID 77 is traveling at a (x, y) velocity of [3.2734792 3.8395195] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, 1.3) m/s. Its current heading (yaw) is 0.36 radians with an angular velocity of 0.36 rad/s.

The most relevant actors are: A vehicle with ID 65 is 7.0 meters away at (-2.4, -6.5). A vehicle with ID 62 is 13.2 meters away at (-12.7, -3.6). A vehicle with ID 16 is 14.0 meters away at (13.9, 2.0). A vehicle with ID 59 is 14.2 meters away at (-7.1, -12.3). A unknown object with ID 74 is 16.1 meters away at (-1.9, 16.0). A vehicle with ID 77 is 17.2 meters away at (-11.4, -12.8). A unknown object with ID 54 is 18.0 meters away at (-7.2, 16.5). A vehicle with ID 57 is 19.3 meters away at (-17.0, -9.1). A pedestrian with ID 12 is 20.0 meters away at (15.8, -12.2). A unknown object with ID 8 is 20.2 meters away at (20.2, 0.2).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [2.486693  3.0386803] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.0964199  0.7455609] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, -4.1) m/s. Its current heading (yaw) is -2.25 radians with an angular velocity of -2.25 rad/s.

The most relevant actors are: A vehicle with ID 29 is 13.0 meters away at (-10.5, -7.6). A vehicle with ID 33 is 15.8 meters away at (-4.0, -15.3). A vehicle with ID 30 is 18.2 meters away at (-13.9, -11.8). A pedestrian with ID 45 is 18.9 meters away at (-16.4, -9.3). A vehicle with ID 35 is 23.1 meters away at (-8.8, -21.4). A vehicle with ID 40 is 24.1 meters away at (-16.0, 17.9). A vehicle with ID 31 is 24.8 meters away at (-18.1, -16.9). A vehicle with ID 36 is 29.4 meters away at (-13.0, -26.3). A vehicle with ID 34 is 29.6 meters away at (-21.1, -20.8). A vehicle with ID 37 is 34.6 meters away at (-24.1, -24.8).

The vehicle with ID 29 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 30 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 [0.7674955 1.193539 ] m/s.The vehicle with ID 35 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 [-5.4927535  3.8470166] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -3.8) 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 29 is 4.3 meters away at (-4.3, 0.3). A vehicle with ID 33 is 7.8 meters away at (2.3, -7.4). A vehicle with ID 30 is 8.5 meters away at (-7.6, -3.8). A pedestrian with ID 45 is 8.6 meters away at (-8.5, 1.3). A vehicle with ID 35 is 13.8 meters away at (-2.5, -13.5). A vehicle with ID 31 is 14.8 meters away at (-11.8, -9.0). A vehicle with ID 34 is 19.6 meters away at (-14.8, -12.9). A vehicle with ID 36 is 19.6 meters away at (-6.7, -18.4). A vehicle with ID 37 is 24.6 meters away at (-17.8, -16.9). A vehicle with ID 38 is 25.1 meters away at (-10.2, -22.9).

The vehicle with ID 29 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 30 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 [0.82124865 1.2555213 ] m/s.The vehicle with ID 35 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 34 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 37 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.6) 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 30 is 3.6 meters away at (-2.3, 2.8). A vehicle with ID 31 is 6.8 meters away at (-6.4, -2.3). A vehicle with ID 29 is 6.9 meters away at (1.0, 6.8). A vehicle with ID 35 is 7.4 meters away at (2.9, -6.8). A vehicle with ID 33 is 7.6 meters away at (7.6, -0.8). A pedestrian with ID 45 is 10.9 meters away at (-1.7, 10.7). A vehicle with ID 34 is 11.2 meters away at (-9.4, -6.1). A vehicle with ID 36 is 11.8 meters away at (-1.3, -11.8). A vehicle with ID 37 is 16.1 meters away at (-12.4, -10.1). A vehicle with ID 38 is 16.9 meters away at (-4.7, -16.2).

The vehicle with ID 30 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 29 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 33 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 [0.71171784 1.3131669 ] m/s.The vehicle with ID 34 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 37 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: Continue straight.


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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 31 is 3.7 meters away at (-3.4, 1.5). A vehicle with ID 30 is 6.5 meters away at (0.6, 6.5). A vehicle with ID 34 is 6.7 meters away at (-6.3, -2.3). A vehicle with ID 35 is 6.7 meters away at (6.0, -3.0). A vehicle with ID 36 is 8.2 meters away at (1.8, -8.0). A vehicle with ID 33 is 11.0 meters away at (10.6, 2.8). A vehicle with ID 37 is 11.3 meters away at (-9.3, -6.3). A vehicle with ID 29 is 11.4 meters away at (4.0, 10.6). A vehicle with ID 38 is 12.5 meters away at (-1.6, -12.4). A vehicle with ID 41 is 17.2 meters away at (-5.1, -16.4).

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 36 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -0.7) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 43 is 6.7 meters away at (-6.6, -0.8). A vehicle with ID 5 is 8.9 meters away at (-8.4, 2.9). A vehicle with ID 55 is 10.6 meters away at (-8.4, 6.5). A vehicle with ID 49 is 13.5 meters away at (-13.4, 1.6). A vehicle with ID 62 is 15.1 meters away at (14.2, 5.2). A vehicle with ID 21 is 17.5 meters away at (3.5, -17.1). A vehicle with ID 54 is 19.2 meters away at (-18.9, 3.5). A vehicle with ID 70 is 20.4 meters away at (-16.5, 11.9). A vehicle with ID 6 is 20.9 meters away at (15.2, 14.3). A unknown object with ID 66 is 21.4 meters away at (16.4, -13.7).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 3.5268738 -1.2287327] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-9.309186   2.9325595] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.2991197 -2.6199615] m/s.The vehicle with ID 21 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 70 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 unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.1) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A vehicle with ID 5 is 5.9 meters away at (-5.6, 1.9). A vehicle with ID 62 is 6.6 meters away at (6.0, 2.9). A vehicle with ID 43 is 7.8 meters away at (-7.8, -0.4). A vehicle with ID 49 is 14.8 meters away at (-14.7, 2.1). A vehicle with ID 73 is 16.9 meters away at (16.7, -2.7). A vehicle with ID 72 is 17.3 meters away at (-16.3, 5.7). A vehicle with ID 14 is 18.4 meters away at (3.1, -18.1). A vehicle with ID 57 is 19.4 meters away at (15.9, 11.1). A unknown object with ID 66 is 20.3 meters away at (15.3, -13.3). A vehicle with ID 6 is 20.4 meters away at (14.0, 14.8).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.44819036 -0.14375551] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-4.744918    0.25076237] m/s.The vehicle with ID 43 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 73 is traveling at a (x, y) velocity of [-3.0815964  1.6761156] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 4.417104  -1.5640756] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.4339353 -0.9963014] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.1) m/s. Its current heading (yaw) is -0.37 radians with an angular velocity of -0.37 rad/s.

The most relevant actors are: A vehicle with ID 73 is 6.4 meters away at (6.2, 1.7). A vehicle with ID 5 is 8.6 meters away at (-8.1, 2.9). A vehicle with ID 43 is 10.6 meters away at (-10.5, 0.7). A vehicle with ID 62 is 10.8 meters away at (-8.5, 6.7). A vehicle with ID 72 is 15.1 meters away at (-14.2, 5.0). A vehicle with ID 57 is 17.0 meters away at (12.8, 11.3). A vehicle with ID 14 is 17.1 meters away at (0.4, -17.1). A unknown object with ID 66 is 17.5 meters away at (12.5, -12.2). A vehicle with ID 49 is 17.6 meters away at (-17.4, 3.1). A unknown object with ID 65 is 18.0 meters away at (10.4, -14.8).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-4.636837   1.6820952] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.1281476  1.9309558] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 0.8645404  -0.30119863] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.2025351  -0.34449062] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.8) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A unknown object with ID 66 is 9.4 meters away at (4.1, -8.4). A vehicle with ID 78 is 10.0 meters away at (9.9, -1.1). A vehicle with ID 57 is 13.5 meters away at (3.7, 13.0). A vehicle with ID 42 is 14.1 meters away at (4.8, -13.3). A vehicle with ID 47 is 14.3 meters away at (14.3, -0.8). A vehicle with ID 5 is 14.8 meters away at (-13.7, 5.7). A vehicle with ID 14 is 15.5 meters away at (-7.9, -13.4). A vehicle with ID 73 is 15.6 meters away at (-12.8, 9.0). A vehicle with ID 43 is 19.5 meters away at (-19.0, 4.4). A vehicle with ID 50 is 19.6 meters away at (19.1, -4.5).

The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [-0.80645716 -2.4250844 ] 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 5 is traveling at a (x, y) velocity of [ 2.1380513 -0.8439414] m/s.The vehicle with ID 14 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 [-6.1003075  1.9075704] m/s.The vehicle with ID 43 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 8.8) m/s. Its current heading (yaw) is 1.08 radians with an angular velocity of 1.08 rad/s.

The most relevant actors are: A vehicle with ID 11 is 19.8 meters away at (-10.4, -16.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [ -1.8734655 -12.214725 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 6.2) m/s. Its current heading (yaw) is 0.76 radians with an angular velocity of 0.76 rad/s.

The most relevant actors are: A vehicle with ID 11 is 61.0 meters away at (-20.8, -57.3).

The vehicle with ID 11 is traveling at a (x, y) velocity of [  3.0175881 -12.401764 ] 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, 4.2) 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 7 is 47.2 meters away at (33.1, 33.7). A vehicle with ID 8 is 49.3 meters away at (49.0, 5.7).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-9.646336  13.3657675] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 2.1) m/s. Its current heading (yaw) is 0.58 radians with an angular velocity of 0.58 rad/s.

The most relevant actors are: A vehicle with ID 5 is 33.0 meters away at (21.0, 25.5). A vehicle with ID 4 is 57.6 meters away at (52.8, -23.1).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.467626 12.943706] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.469501 12.822927] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.3) m/s. Its current heading (yaw) is -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 31 is 9.1 meters away at (9.1, -0.1). A vehicle with ID 43 is 20.1 meters away at (-20.0, 1.8). A vehicle with ID 41 is 21.1 meters away at (18.4, 10.3). A vehicle with ID 35 is 21.3 meters away at (-21.2, -2.1). A vehicle with ID 46 is 24.7 meters away at (6.0, 24.0). A vehicle with ID 34 is 26.4 meters away at (10.9, -24.1). A vehicle with ID 53 is 27.4 meters away at (22.7, 15.3). A vehicle with ID 61 is 34.1 meters away at (27.3, 20.4). A vehicle with ID 47 is 34.6 meters away at (-28.0, -20.4). A vehicle with ID 48 is 35.6 meters away at (-30.2, -18.9).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [-1.7773976  1.5056974] m/s.The vehicle with ID 46 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 31 is 10.1 meters away at (10.1, 1.0). A vehicle with ID 43 is 19.3 meters away at (-19.0, 2.9). A vehicle with ID 41 is 22.5 meters away at (19.4, 11.5). A vehicle with ID 35 is 22.9 meters away at (-22.8, 1.3). A vehicle with ID 34 is 25.9 meters away at (11.9, -23.0). A vehicle with ID 46 is 26.0 meters away at (7.0, 25.0). A vehicle with ID 32 is 27.5 meters away at (8.6, -26.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.2 meters away at (-27.0, -19.3). A vehicle with ID 48 is 34.2 meters away at (-29.2, -17.7).

The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 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 [-0.7394657   0.60155886] m/s.The vehicle with ID 34 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 32 is traveling at a (x, y) velocity of [-5.166721  4.450114] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 31 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 17.7 meters away at (-1.0, -17.7). A vehicle with ID 43 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 41 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 35 is 23.1 meters away at (-23.1, 1.6). A vehicle with ID 34 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 46 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.0 meters away at (-26.9, -19.2). A vehicle with ID 48 is 34.1 meters away at (-29.1, -17.7).

The vehicle with ID 31 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 [-4.5217896  3.9519565] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 31 is 10.2 meters away at (10.1, 1.1). A vehicle with ID 32 is 14.0 meters away at (-9.0, -10.8). A vehicle with ID 43 is 19.3 meters away at (-19.0, 3.1). A vehicle with ID 41 is 22.6 meters away at (19.4, 11.5). A vehicle with ID 19 is 24.4 meters away at (-23.4, -7.0). A vehicle with ID 34 is 25.9 meters away at (12.0, -22.9). A vehicle with ID 46 is 26.1 meters away at (7.1, 25.1). A vehicle with ID 53 is 28.9 meters away at (23.7, 16.5). A vehicle with ID 47 is 33.1 meters away at (-27.0, -19.2). A vehicle with ID 48 is 34.0 meters away at (-29.1, -17.6).

The vehicle with ID 31 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 [-3.4682257  3.0362797] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 9.675347 -8.315132] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 5.5) m/s. Its current heading (yaw) is 1.33 radians with an angular velocity of 1.33 rad/s.

The most relevant actors are: A vehicle with ID 54 is 12.1 meters away at (10.1, -6.6). A vehicle with ID 58 is 15.3 meters away at (13.6, -7.1). A vehicle with ID 60 is 18.1 meters away at (-13.2, -12.5). A vehicle with ID 62 is 45.6 meters away at (-23.6, -39.0). A vehicle with ID 24 is 48.8 meters away at (-24.1, -42.5). A vehicle with ID 65 is 52.1 meters away at (-13.9, -50.3). A vehicle with ID 38 is 55.7 meters away at (-36.0, -42.4). A pedestrian with ID 43 is 59.7 meters away at (-34.0, -49.1). A pedestrian with ID 66 is 62.9 meters away at (-37.9, -50.2). A vehicle with ID 3 is 70.0 meters away at (25.3, 65.3).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-7.8866515  2.728208 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.0031126  -0.13225575] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 9.630784  -3.2040496] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 8.47344   -3.0349708] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.02491497 -0.00315498] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [ 1.1751255 -0.5147941] 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 (1.6, 5.6) m/s. Its current heading (yaw) is 1.29 radians with an angular velocity of 1.29 rad/s.

The most relevant actors are: A vehicle with ID 54 is 19.1 meters away at (6.9, -17.8). A vehicle with ID 58 is 21.0 meters away at (10.4, -18.3). A vehicle with ID 60 is 28.9 meters away at (-16.4, -23.8). A vehicle with ID 24 is 54.1 meters away at (-19.8, -50.4). A vehicle with ID 3 is 58.4 meters away at (21.9, 54.2). A vehicle with ID 38 is 63.6 meters away at (-21.5, -59.8).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [4.337648 4.338459] m/s.The vehicle with ID 3 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 [ 9.22826   -2.9514186] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.9) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A unknown object with ID 37 is 17.4 meters away at (9.8, 14.3). A vehicle with ID 31 is 29.4 meters away at (18.9, -22.5). A vehicle with ID 60 is 39.6 meters away at (-19.8, -34.3). A vehicle with ID 32 is 39.8 meters away at (37.3, 13.9). A vehicle with ID 4 is 44.6 meters away at (-6.1, 44.2). A vehicle with ID 3 is 47.5 meters away at (18.4, 43.8). A vehicle with ID 24 is 50.3 meters away at (-15.8, -47.8). A pedestrian with ID 36 is 71.7 meters away at (15.2, 70.0). A pedestrian with ID 19 is 71.8 meters away at (14.6, 70.3). A vehicle with ID 21 is 76.8 meters away at (18.8, 74.4).

The unknown object with ID 37 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 60 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [3.1813238 8.445725 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.01499776 -0.00168159] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.03730986 -0.01358491] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 3.8) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A unknown object with ID 30 is 18.4 meters away at (2.8, -18.2). A vehicle with ID 1 is 24.7 meters away at (-10.6, 22.3). A vehicle with ID 2 is 26.9 meters away at (-14.1, 22.9). A vehicle with ID 31 is 35.2 meters away at (15.8, -31.5). A vehicle with ID 4 is 36.4 meters away at (-9.2, 35.2). A vehicle with ID 3 is 38.1 meters away at (15.3, 34.8). A vehicle with ID 24 is 40.3 meters away at (-12.7, -38.2). A vehicle with ID 60 is 48.9 meters away at (-22.8, -43.2). A pedestrian with ID 19 is 63.2 meters away at (13.2, 61.8). A vehicle with ID 21 is 67.3 meters away at (15.7, 65.5).

The unknown object with ID 30 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 2 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [3.0648289 9.445406 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3273259  -0.02018755] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.8) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 5.7 meters away at (5.0, 2.9). A cyclist with ID 43 is 17.5 meters away at (-17.4, -1.8). A unknown object with ID 12 is 20.9 meters away at (-15.4, -14.0). A unknown object with ID 45 is 53.2 meters away at (8.6, 52.5). A vehicle with ID 47 is 70.0 meters away at (18.3, 67.5). A pedestrian with ID 33 is 71.4 meters away at (18.8, 68.9). A pedestrian with ID 4 is 74.7 meters away at (21.4, 71.6).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.6597392   0.22104724] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-8.782417  -1.2651529] 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 45 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.2872831  0.96820694] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, -2.3) m/s. Its current heading (yaw) is -2.68 radians with an angular velocity of -2.68 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 14.6 meters away at (9.9, 10.7). A cyclist with ID 43 is 32.3 meters away at (-31.1, 8.6). A pedestrian with ID 33 is 79.8 meters away at (25.5, 75.6).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.0749972  0.6585407] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-11.126496   4.384974] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.15120183 -0.29394013] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 0.6) m/s. Its current heading (yaw) is 3.03 radians with an angular velocity of 3.03 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 23.0 meters away at (18.5, 13.7). A unknown object with ID 26 is 49.8 meters away at (34.7, 35.8). A cyclist with ID 43 is 51.6 meters away at (-46.7, 22.1). A unknown object with ID 41 is 56.6 meters away at (24.5, 51.0). A unknown object with ID 40 is 60.0 meters away at (24.6, 54.7). A unknown object with ID 14 is 60.6 meters away at (24.7, 55.4). A unknown object with ID 27 is 61.9 meters away at (24.9, 56.6). A unknown object with ID 39 is 62.7 meters away at (25.1, 57.4).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.1105273   0.49680784] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 43 is traveling at a (x, y) velocity of [-14.301015    6.0250726] 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 40 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 2.4) m/s. Its current heading (yaw) is 2.76 radians with an angular velocity of 2.76 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 29.8 meters away at (27.5, 11.3). A pedestrian with ID 29 is 30.0 meters away at (0.4, 30.0). A cyclist with ID 20 is 51.3 meters away at (-39.4, 32.8). A unknown object with ID 41 is 59.5 meters away at (35.8, 47.5). A unknown object with ID 17 is 60.3 meters away at (35.8, 48.5). A unknown object with ID 30 is 60.9 meters away at (35.8, 49.4). A unknown object with ID 40 is 62.1 meters away at (35.9, 50.7). A unknown object with ID 14 is 62.7 meters away at (36.0, 51.3). A unknown object with ID 27 is 63.4 meters away at (36.1, 52.1). A unknown object with ID 25 is 64.3 meters away at (36.3, 53.0).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.9679185   0.42425317] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.8420516 -0.8201964] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 9.151034  -4.0809774] 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 17 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 40 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 5 is 9.5 meters away at (8.0, 5.1). A vehicle with ID 7 is 10.8 meters away at (-8.9, -6.2). A vehicle with ID 57 is 12.4 meters away at (-1.5, -12.3). A vehicle with ID 61 is 13.5 meters away at (9.1, 10.0). A pedestrian with ID 44 is 14.3 meters away at (-4.4, -13.6). A pedestrian with ID 60 is 14.4 meters away at (8.2, -11.9). A pedestrian with ID 62 is 15.2 meters away at (8.1, -12.9). A vehicle with ID 53 is 15.8 meters away at (15.3, 4.3). A pedestrian with ID 64 is 16.0 meters away at (7.9, -13.9). A pedestrian with ID 58 is 16.1 meters away at (15.8, -3.2).

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.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [1.4614056 0.9263048] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.23839635  0.44216526] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.40382886 -0.02052667] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.09542776 -0.02996896] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.22051284 0.0992478 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [2.0043852 1.855214 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.4) m/s. Its current heading (yaw) is 0.59 radians with an angular velocity of 0.59 rad/s.

The most relevant actors are: A vehicle with ID 5 is 8.9 meters away at (7.5, 4.8). A vehicle with ID 7 is 11.3 meters away at (-9.3, -6.5). A vehicle with ID 57 is 12.9 meters away at (-2.2, -12.7). A pedestrian with ID 44 is 14.2 meters away at (-5.3, -13.1). A pedestrian with ID 60 is 15.1 meters away at (8.1, -12.7). A vehicle with ID 53 is 15.1 meters away at (14.6, 3.9). A pedestrian with ID 62 is 15.3 meters away at (7.4, -13.3). A pedestrian with ID 64 is 16.1 meters away at (7.3, -14.3). A vehicle with ID 55 is 16.2 meters away at (13.8, 8.6). A pedestrian with ID 63 is 17.0 meters away at (10.2, -13.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [0.35367814 0.22717965] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.1185373  -0.09165385] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 0.15601291 -0.05161404] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01898018 -0.00490878] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.0058893  0.00922038] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.01463539 0.01480565] m/s.

Instruction: right u-turn approaching.