The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -2.2) m/s. Its current heading (yaw) is -0.75 radians with an angular velocity of -0.75 rad/s.

The most relevant actors are: A vehicle with ID 1 is 6.6 meters away at (6.3, 2.1). A vehicle with ID 37 is 7.3 meters away at (-6.1, -4.1). A vehicle with ID 42 is 9.1 meters away at (3.5, 8.4). A unknown object with ID 47 is 11.0 meters away at (10.8, 2.3). A pedestrian with ID 41 is 11.6 meters away at (-11.0, -3.7). A vehicle with ID 48 is 12.3 meters away at (1.1, -12.2). A unknown object with ID 51 is 13.2 meters away at (13.2, 0.0). A unknown object with ID 10 is 15.1 meters away at (6.2, -13.7). A unknown object with ID 57 is 16.4 meters away at (16.3, -2.2). A vehicle with ID 58 is 16.8 meters away at (12.9, -10.8).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.1224413  3.477961 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.4598521 -1.3656423] m/s.The vehicle with ID 48 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 10 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 vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 1.8) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A vehicle with ID 41 is 3.5 meters away at (0.9, 3.4). A unknown object with ID 42 is 22.6 meters away at (18.2, -13.4). A unknown object with ID 43 is 24.4 meters away at (19.4, -14.8). A pedestrian with ID 37 is 27.2 meters away at (12.9, -23.9). A vehicle with ID 44 is 31.2 meters away at (26.8, -16.1). A vehicle with ID 46 is 33.7 meters away at (31.7, -11.3). A vehicle with ID 45 is 42.0 meters away at (-39.4, -14.7). A unknown object with ID 14 is 43.8 meters away at (0.7, -43.8). A unknown object with ID 40 is 45.5 meters away at (-26.3, 37.2). A unknown object with ID 48 is 47.0 meters away at (-1.5, -47.0).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.35801402  0.9943813 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.7) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 41 is 8.7 meters away at (8.4, -2.1). A pedestrian with ID 10 is 22.9 meters away at (-2.4, 22.8). A pedestrian with ID 19 is 26.1 meters away at (11.7, -23.3). A unknown object with ID 42 is 32.0 meters away at (25.9, -18.9). A pedestrian with ID 37 is 33.6 meters away at (19.6, -27.4). A unknown object with ID 43 is 33.9 meters away at (27.2, -20.2). A unknown object with ID 15 is 34.6 meters away at (-16.1, 30.7). A unknown object with ID 40 is 36.6 meters away at (-19.5, 31.0). A vehicle with ID 45 is 37.9 meters away at (-32.1, -20.1). A vehicle with ID 44 is 40.7 meters away at (34.7, -21.3).

The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.02797873 -0.0007514 ] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.04476442 -0.05196257] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.77634704  1.0173393 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.7) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 21 is 19.5 meters away at (-17.0, 9.5). A vehicle with ID 41 is 20.9 meters away at (18.1, -10.6). A unknown object with ID 40 is 24.5 meters away at (-9.9, 22.3). A vehicle with ID 45 is 36.5 meters away at (-22.3, -28.9). A pedestrian with ID 19 is 38.2 meters away at (21.4, -31.7). A vehicle with ID 6 is 43.2 meters away at (-31.5, 29.5). A pedestrian with ID 37 is 43.7 meters away at (27.6, -33.9). A vehicle with ID 44 is 53.5 meters away at (44.6, -29.6). A vehicle with ID 3 is 54.2 meters away at (-41.2, 35.1). A vehicle with ID 46 is 55.3 meters away at (49.2, -25.3).

The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.0581393 -5.0553694] m/s.The vehicle 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 vehicle with ID 45 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 [-0.30694517  0.36625242] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0234282  0.8576132] m/s.The vehicle with ID 44 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.8) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (6.7, -10.5). A pedestrian with ID 35 is 18.4 meters away at (17.8, -4.5). A vehicle with ID 6 is 28.7 meters away at (-20.6, 20.0). A vehicle with ID 41 is 35.3 meters away at (29.0, -20.2). A vehicle with ID 3 is 39.6 meters away at (-30.2, 25.6). A vehicle with ID 45 is 40.2 meters away at (-11.1, -38.6). A vehicle with ID 8 is 50.1 meters away at (-47.3, -16.4). A pedestrian with ID 37 is 55.6 meters away at (36.3, -42.1). A vehicle with ID 25 is 56.2 meters away at (-31.2, -46.7). A vehicle with ID 44 is 67.8 meters away at (55.2, -39.4).

The vehicle with ID 21 is traveling at a (x, y) velocity of [ 6.7891183 -5.6990337] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02560974  0.0043576 ] m/s.The vehicle with ID 6 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.37055504  0.2751498 ] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.0672121  0.7991409] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -5.6) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A unknown object with ID 36 is 14.5 meters away at (7.6, -12.4). A pedestrian with ID 39 is 22.3 meters away at (21.7, -5.2). A vehicle with ID 35 is 40.1 meters away at (-27.3, 29.3). A vehicle with ID 40 is 42.0 meters away at (-31.2, -28.1). A pedestrian with ID 28 is 43.2 meters away at (-32.9, -28.0). A pedestrian with ID 45 is 43.3 meters away at (29.3, -31.9). A vehicle with ID 37 is 46.5 meters away at (-33.0, 32.8). A unknown object with ID 10 is 47.9 meters away at (39.9, -26.4). A vehicle with ID 41 is 48.4 meters away at (-41.2, -25.4). A vehicle with ID 38 is 51.6 meters away at (-37.4, 35.6).

The unknown object with ID 36 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 [-1.0896097  0.7319507] 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 [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.45196858  0.09624054] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.2263811   0.76226795] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -6.0) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A unknown object with ID 36 is 5.7 meters away at (-5.7, -0.7). A pedestrian with ID 39 is 9.3 meters away at (5.8, 7.3). A pedestrian with ID 45 is 22.7 meters away at (13.7, -18.1). A unknown object with ID 10 is 30.4 meters away at (26.5, -14.8). A vehicle with ID 40 is 47.4 meters away at (-44.5, -16.3). A vehicle with ID 41 is 56.2 meters away at (-54.6, -13.5). A vehicle with ID 42 is 56.7 meters away at (-51.0, -24.8). A vehicle with ID 35 is 57.8 meters away at (-40.6, 41.1). A vehicle with ID 43 is 63.0 meters away at (-59.8, -19.8). A vehicle with ID 37 is 64.2 meters away at (-46.3, 44.4).

The unknown object with ID 36 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 [-1.2262291   0.36787543] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1548861  0.9060519] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.2, -6.2) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A pedestrian with ID 45 is 4.8 meters away at (-2.5, -4.1). A unknown object with ID 10 is 13.1 meters away at (12.7, -2.9). A unknown object with ID 6 is 14.6 meters away at (14.1, -4.0). A unknown object with ID 36 is 22.5 meters away at (-19.4, 11.3). A pedestrian with ID 39 is 22.6 meters away at (-10.1, 20.2). A vehicle with ID 11 is 46.0 meters away at (4.0, -45.8). A vehicle with ID 40 is 58.3 meters away at (-58.2, -4.1). A vehicle with ID 41 is 68.3 meters away at (-68.3, -1.4). A vehicle with ID 1 is 69.1 meters away at (30.2, -62.1). A vehicle with ID 43 is 74.2 meters away at (-73.8, -8.1).

The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.1229682  1.0093036] 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0562891   0.49246007] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0.38817143 0.57355976] m/s.The vehicle with ID 41 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -6.2) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A unknown object with ID 6 is 8.6 meters away at (-0.4, 8.6). A unknown object with ID 10 is 9.9 meters away at (-1.7, 9.7). A pedestrian with ID 45 is 22.1 meters away at (-19.4, 10.6). A unknown object with ID 29 is 32.7 meters away at (-12.5, -30.2). A unknown object with ID 36 is 41.5 meters away at (-33.9, 23.9). A pedestrian with ID 39 is 42.8 meters away at (-27.0, 33.1). A vehicle with ID 1 is 51.8 meters away at (15.5, -49.4). A unknown object with ID 19 is 57.4 meters away at (-33.0, 47.0). A unknown object with ID 18 is 60.7 meters away at (-33.8, 50.4). A pedestrian with ID 12 is 64.4 meters away at (18.3, -61.8).

The unknown object with ID 6 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 45 is traveling at a (x, y) velocity of [-1.1404331  1.0628586] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 [-1.1586876  -0.21118228] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [ 1.1317452  -0.92502403] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 14 is 15.8 meters away at (-12.6, 9.5). A unknown object with ID 28 is 18.1 meters away at (-14.7, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 14 is 15.8 meters away at (-12.6, 9.5). A unknown object with ID 28 is 18.1 meters away at (-14.6, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.7). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.6 meters away at (-7.4, 4.3). A vehicle with ID 17 is 8.7 meters away at (8.2, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A unknown object with ID 28 is 18.0 meters away at (-14.6, 10.5). A vehicle with ID 39 is 19.1 meters away at (-17.1, 8.4). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 1.6652141  -0.86042774] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A unknown object with ID 10 is 3.1 meters away at (1.5, 2.8). A unknown object with ID 11 is 4.1 meters away at (3.4, 2.3). A unknown object with ID 12 is 6.0 meters away at (5.4, 2.5). A vehicle with ID 15 is 8.5 meters away at (-7.4, 4.2). A vehicle with ID 17 is 8.8 meters away at (8.3, -2.9). A unknown object with ID 19 is 10.8 meters away at (10.7, 1.1). A vehicle with ID 39 is 16.5 meters away at (-14.8, 7.3). A unknown object with ID 28 is 18.1 meters away at (-14.7, 10.6). A unknown object with ID 29 is 20.0 meters away at (-16.4, 11.5). A unknown object with ID 30 is 22.2 meters away at (-18.4, 12.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.5525208 -0.2964624] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 52 is 6.2 meters away at (-1.5, -6.0). A vehicle with ID 48 is 7.2 meters away at (-4.2, -5.8). A vehicle with ID 53 is 8.1 meters away at (0.6, -8.1). A pedestrian with ID 54 is 13.8 meters away at (0.1, 13.8). A vehicle with ID 55 is 14.4 meters away at (-3.0, -14.0). A vehicle with ID 56 is 15.1 meters away at (6.2, 13.7). A vehicle with ID 57 is 16.8 meters away at (-7.0, -15.3). A pedestrian with ID 58 is 18.3 meters away at (-14.8, -10.8). A unknown object with ID 59 is 20.6 meters away at (19.2, 7.5). A vehicle with ID 60 is 20.9 meters away at (-6.9, -19.7).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.5736258  0.47023737] 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 pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.5510814  -0.37767714] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.7) m/s. Its current heading (yaw) is 1.14 radians with an angular velocity of 1.14 rad/s.

The most relevant actors are: A vehicle with ID 52 is 8.0 meters away at (-2.5, -7.6). A vehicle with ID 48 is 9.1 meters away at (-5.3, -7.4). A vehicle with ID 53 is 9.6 meters away at (-0.4, -9.6). A pedestrian with ID 54 is 14.0 meters away at (1.6, 13.9). A vehicle with ID 56 is 14.2 meters away at (6.2, 12.8). A vehicle with ID 55 is 16.1 meters away at (-4.0, -15.6). A vehicle with ID 57 is 18.6 meters away at (-8.1, -16.7). A unknown object with ID 59 is 19.2 meters away at (18.3, 5.8). A unknown object with ID 62 is 19.3 meters away at (-1.2, 19.3). A pedestrian with ID 61 is 19.5 meters away at (-6.9, 18.2).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.266367   0.85204166] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.3367323  0.25070927] m/s.The vehicle with ID 55 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 unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.11158831 -0.05987441] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 3.1) m/s. Its current heading (yaw) is 1.75 radians with an angular velocity of 1.75 rad/s.

The most relevant actors are: A vehicle with ID 56 is 10.1 meters away at (6.0, 8.1). A pedestrian with ID 54 is 11.1 meters away at (2.9, 10.7). A vehicle with ID 48 is 12.5 meters away at (-5.3, -11.3). A vehicle with ID 52 is 12.8 meters away at (-3.1, -12.5). A unknown object with ID 62 is 14.5 meters away at (-1.7, 14.4). A vehicle with ID 53 is 14.5 meters away at (-1.0, -14.5). A pedestrian with ID 61 is 15.1 meters away at (-6.4, 13.7). A vehicle with ID 67 is 17.5 meters away at (-3.1, 17.3). A unknown object with ID 59 is 17.8 meters away at (17.8, 0.9). A unknown object with ID 64 is 19.8 meters away at (19.8, -0.4).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.6947768  0.89812547] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.54027575 0.9218082 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.52301025 0.49742064] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.4) 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 unknown object with ID 62 is 7.8 meters away at (1.3, 7.7). A pedestrian with ID 61 is 8.6 meters away at (-2.1, 8.4). A vehicle with ID 56 is 9.3 meters away at (9.2, 1.5). A pedestrian with ID 54 is 9.7 meters away at (7.9, 5.7). A vehicle with ID 67 is 10.5 meters away at (-0.0, 10.5). A vehicle with ID 50 is 13.6 meters away at (-7.5, 11.4). A vehicle with ID 48 is 15.7 meters away at (-0.7, -15.7). A vehicle with ID 52 is 19.2 meters away at (-0.1, -19.2). A vehicle with ID 53 is 21.3 meters away at (2.0, -21.2). A unknown object with ID 59 is 21.6 meters away at (20.8, -5.8).

The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.44513616 0.7872713 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [1.0959386 0.755296 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [1.1472769 1.629529 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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, 0.8) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A vehicle with ID 35 is 3.1 meters away at (-2.4, -2.0). A cyclist with ID 36 is 3.7 meters away at (3.3, 1.7). A vehicle with ID 38 is 9.0 meters away at (-5.7, 6.9). A pedestrian with ID 40 is 12.0 meters away at (-12.0, 0.7). A vehicle with ID 56 is 23.2 meters away at (-13.2, 19.1). A vehicle with ID 42 is 26.2 meters away at (-20.1, -16.9). A pedestrian with ID 47 is 27.8 meters away at (3.3, 27.6). A vehicle with ID 50 is 29.5 meters away at (-26.1, 13.7). A vehicle with ID 51 is 30.8 meters away at (-30.1, 6.6). A vehicle with ID 55 is 33.6 meters away at (-19.5, 27.4).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-3.1923392  1.928977 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.3771117 -1.3102218] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ -3.2636013 -11.826228 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ -1.4757189 -13.109903 ] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.02681418 0.00439637] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.36004406 0.40607336] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.18415408 0.5435606 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-2.2051923 -3.5489032] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.4) 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 vehicle with ID 35 is 3.2 meters away at (-0.6, -3.1). A cyclist with ID 36 is 3.3 meters away at (0.6, 3.2). A vehicle with ID 38 is 6.9 meters away at (-3.9, 5.8). A pedestrian with ID 40 is 10.7 meters away at (-10.3, -3.0). A vehicle with ID 66 is 15.7 meters away at (-13.8, 7.4). A vehicle with ID 56 is 17.9 meters away at (-16.8, -6.1). A vehicle with ID 50 is 26.6 meters away at (-22.4, 14.3). A vehicle with ID 51 is 28.5 meters away at (-27.6, 7.2). A vehicle with ID 77 is 30.6 meters away at (-5.7, 30.1). A vehicle with ID 43 is 31.2 meters away at (-18.8, 24.8).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-1.54329    1.0571152] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.13853025 -1.178264  ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ -2.8648417 -11.761257 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [ -2.071016 -12.301328] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [1.6307881 1.3948983] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.5534825 1.2489219] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-3.3742254 -9.499492 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A cyclist with ID 36 is 3.2 meters away at (0.7, 3.1). A vehicle with ID 35 is 3.5 meters away at (-0.0, -3.5). A vehicle with ID 38 is 6.3 meters away at (-3.2, 5.4). A pedestrian with ID 40 is 10.3 meters away at (-8.6, -5.7). A vehicle with ID 77 is 15.6 meters away at (-11.0, 11.0). A pedestrian with ID 39 is 23.3 meters away at (11.3, 20.3). A vehicle with ID 50 is 23.6 meters away at (-16.9, 16.4). A vehicle with ID 66 is 24.4 meters away at (-17.8, -16.7). A vehicle with ID 68 is 26.1 meters away at (18.1, -18.9). A vehicle with ID 51 is 27.2 meters away at (-25.4, 9.9).

The cyclist with ID 36 is traveling at a (x, y) velocity of [0.00739224 0.00659371] m/s.The vehicle with ID 35 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.57067245 -1.2853765 ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-2.4830127 -9.238483 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.7733688  0.9362718] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [3.5132058 1.2059358] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ -1.9543262 -12.531198 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-6.2101917  1.1615661] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0.91042656 1.6622474 ] 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 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A cyclist with ID 36 is 3.2 meters away at (0.8, 3.1). A vehicle with ID 35 is 3.5 meters away at (0.0, -3.5). A vehicle with ID 38 is 6.2 meters away at (-3.2, 5.3). A pedestrian with ID 40 is 11.1 meters away at (-7.4, -8.2). A vehicle with ID 77 is 16.3 meters away at (-15.0, -6.4). A vehicle with ID 50 is 17.5 meters away at (-5.8, 16.5). A vehicle with ID 68 is 19.5 meters away at (5.9, -18.6). A unknown object with ID 27 is 22.1 meters away at (20.0, 9.2). A pedestrian with ID 39 is 24.1 meters away at (9.7, 22.0). A vehicle with ID 19 is 24.9 meters away at (-20.6, 14.1).

The cyclist with ID 36 is traveling at a (x, y) velocity of [ 0.00433246 -0.00598502] m/s.The vehicle with ID 35 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 pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.59031856 -1.306936  ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [-1.578522 -8.864699] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 6.431792  -1.9727929] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-5.9687085 -0.6951551] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.85928816  0.78885543] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.9024494 2.067562 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, 0.1) m/s. Its current heading (yaw) is 2.75 radians with an angular velocity of 2.75 rad/s.

The most relevant actors are: A cyclist with ID 26 is 7.7 meters away at (-5.4, 5.4). A unknown object with ID 46 is 17.4 meters away at (15.0, 8.9). A unknown object with ID 45 is 17.5 meters away at (14.5, 9.8). A unknown object with ID 49 is 17.7 meters away at (15.8, 8.0). A unknown object with ID 47 is 18.0 meters away at (13.9, 11.5). A unknown object with ID 50 is 18.5 meters away at (13.8, 12.3). A unknown object with ID 53 is 18.6 meters away at (17.2, 7.1). A pedestrian with ID 54 is 19.0 meters away at (16.2, 10.1). A unknown object with ID 61 is 20.3 meters away at (19.4, 6.0). A pedestrian with ID 33 is 20.4 meters away at (16.4, 12.1).

The cyclist with ID 26 is traveling at a (x, y) velocity of [-4.025107   1.5938569] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 54 is traveling at a (x, y) velocity of [0.08912796 0.05909095] m/s.The unknown object with ID 61 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 [ 0.01365009 -0.00794728] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 0.6) m/s. Its current heading (yaw) is 2.90 radians with an angular velocity of 2.90 rad/s.

The most relevant actors are: A cyclist with ID 26 is 19.6 meters away at (-16.0, 11.2). A unknown object with ID 45 is 19.9 meters away at (18.0, 8.4). A unknown object with ID 46 is 20.0 meters away at (18.5, 7.5). A unknown object with ID 47 is 20.1 meters away at (17.4, 10.1). A unknown object with ID 49 is 20.5 meters away at (19.3, 6.7). A unknown object with ID 50 is 20.5 meters away at (17.3, 11.0). A unknown object with ID 53 is 21.5 meters away at (20.7, 5.8). A pedestrian with ID 54 is 21.6 meters away at (19.7, 8.8). A pedestrian with ID 33 is 22.7 meters away at (20.0, 10.8). A pedestrian with ID 34 is 22.8 meters away at (20.5, 10.0).

The cyclist with ID 26 is traveling at a (x, y) velocity of [-8.696404  4.403536] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 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 54 is traveling at a (x, y) velocity of [0.03169    0.00655873] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00578257 -0.01099536] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.03287203 -0.04634535] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -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 pedestrian with ID 41 is 16.5 meters away at (-16.5, 1.1). A vehicle with ID 82 is 20.4 meters away at (-9.5, 18.1). A unknown object with ID 45 is 23.6 meters away at (22.3, 7.9). A unknown object with ID 47 is 23.7 meters away at (21.7, 9.5). A unknown object with ID 46 is 23.8 meters away at (22.8, 7.0). A unknown object with ID 50 is 23.9 meters away at (21.6, 10.4). A unknown object with ID 49 is 24.4 meters away at (23.6, 6.1). A unknown object with ID 23 is 25.4 meters away at (23.2, 10.2). A pedestrian with ID 54 is 25.4 meters away at (24.0, 8.1). A unknown object with ID 53 is 25.6 meters away at (25.0, 5.2).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.0954704 -0.7509636] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 5.2168727 -2.4497166] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02261313 -0.00565471] m/s.The unknown object with ID 53 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 (-0.3, -0.0) 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 41 is 12.4 meters away at (-12.4, -0.4). A vehicle with ID 82 is 13.4 meters away at (4.4, 12.7). A unknown object with ID 45 is 25.2 meters away at (23.9, 7.9). A unknown object with ID 47 is 25.2 meters away at (23.3, 9.6). A unknown object with ID 46 is 25.4 meters away at (24.4, 7.0). A unknown object with ID 50 is 25.5 meters away at (23.2, 10.5). A pedestrian with ID 68 is 26.0 meters away at (-0.4, 26.0). A unknown object with ID 49 is 26.0 meters away at (25.3, 6.2). A pedestrian with ID 54 is 27.0 meters away at (25.7, 8.2). A unknown object with ID 53 is 27.2 meters away at (26.7, 5.2).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.2532257  -0.84540564] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 6.3825316 -2.832484 ] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 1.2732625  -0.66302013] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01416433 -0.00219667] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -2.1) m/s. Its current heading (yaw) is -0.42 radians with an angular velocity of -0.42 rad/s.

The most relevant actors are: A unknown object with ID 29 is 12.1 meters away at (-9.6, -7.4). A vehicle with ID 56 is 14.5 meters away at (14.2, 3.0). A vehicle with ID 55 is 15.9 meters away at (-10.6, 11.8). A vehicle with ID 63 is 16.9 meters away at (16.2, -4.6). A pedestrian with ID 58 is 19.3 meters away at (17.9, 7.2). A vehicle with ID 12 is 19.9 meters away at (-17.5, -9.5). A vehicle with ID 51 is 21.4 meters away at (3.7, -21.1). A vehicle with ID 53 is 23.2 meters away at (2.0, -23.1). A unknown object with ID 57 is 23.4 meters away at (-23.0, -4.2). A vehicle with ID 9 is 23.7 meters away at (19.4, -13.5).

The unknown object with ID 29 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 [-0.94199544  5.978871  ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [-4.2781706  3.39833  ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00894104 -0.01552646] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.014802  2.7161856] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.5994573 -5.2547817] 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 vehicle with ID 63 is 7.9 meters away at (-1.0, 7.9). A vehicle with ID 56 is 10.4 meters away at (3.8, 9.7). A vehicle with ID 51 is 15.7 meters away at (-6.7, -14.2). A pedestrian with ID 58 is 15.8 meters away at (7.4, 14.0). A vehicle with ID 24 is 15.9 meters away at (15.0, -5.2). A vehicle with ID 53 is 18.5 meters away at (-8.3, -16.5). A vehicle with ID 12 is 23.6 meters away at (-23.4, 3.4). A vehicle with ID 25 is 23.9 meters away at (-12.2, -20.6). A vehicle with ID 9 is 28.3 meters away at (22.7, -17.0). A vehicle with ID 14 is 28.3 meters away at (0.5, -28.3).

The vehicle with ID 63 is traveling at a (x, y) velocity of [-2.4004734  2.0306773] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.00423748 0.00367496] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-4.277961   3.7531955] m/s.The vehicle with ID 53 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 [2.8527713 3.134193 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.717613  -5.1967025] m/s.The vehicle with ID 14 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, -4.5) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A vehicle with ID 24 is 10.8 meters away at (-4.6, 9.8). A vehicle with ID 52 is 17.4 meters away at (17.1, -3.3). A pedestrian with ID 54 is 18.7 meters away at (18.6, -1.3). A vehicle with ID 51 is 19.6 meters away at (-18.8, -5.7). A vehicle with ID 56 is 20.1 meters away at (-8.5, 18.3). A vehicle with ID 53 is 22.1 meters away at (-20.6, -7.8). A vehicle with ID 14 is 22.9 meters away at (-11.6, -19.7). A pedestrian with ID 58 is 23.2 meters away at (-4.9, 22.6). A vehicle with ID 19 is 23.8 meters away at (20.6, -11.9). A vehicle with ID 23 is 24.2 meters away at (-22.0, -10.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [-2.6142979  2.169594 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.01433889 -0.00515674] m/s.The vehicle with ID 51 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 53 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 pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.02189248 -0.03893247] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.89797    4.9116607] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.5) m/s. Its current heading (yaw) is -0.68 radians with an angular velocity of -0.68 rad/s.

The most relevant actors are: A vehicle with ID 19 is 5.2 meters away at (-0.8, 5.2). A vehicle with ID 52 is 7.7 meters away at (5.3, 5.6). A pedestrian with ID 54 is 10.2 meters away at (6.8, 7.6). A vehicle with ID 10 is 10.7 meters away at (10.7, 1.1). A vehicle with ID 14 is 25.7 meters away at (-23.3, -10.9). A vehicle with ID 24 is 29.1 meters away at (-19.7, 21.5). A vehicle with ID 17 is 30.2 meters away at (-26.3, -14.8). A vehicle with ID 9 is 30.6 meters away at (23.5, -19.6). A vehicle with ID 51 is 30.7 meters away at (-30.6, 3.2). A vehicle with ID 53 is 32.4 meters away at (-32.4, 1.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [-3.777486   3.2338183] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.04426223 -0.00833658] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.1167263  0.9248298] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 5.4194965 -4.7074323] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 3.2) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A unknown object with ID 51 is 7.5 meters away at (-5.8, 4.7). A vehicle with ID 19 is 12.4 meters away at (8.8, 8.8). A vehicle with ID 60 is 13.8 meters away at (-5.3, 12.7). A pedestrian with ID 61 is 15.5 meters away at (3.2, 15.2). A vehicle with ID 56 is 15.9 meters away at (-7.7, 13.9). A vehicle with ID 54 is 17.9 meters away at (-16.3, 7.3). A vehicle with ID 52 is 18.1 meters away at (-18.1, 0.9). A vehicle with ID 59 is 22.5 meters away at (21.8, 5.6). A vehicle with ID 28 is 22.8 meters away at (18.7, -12.9). A vehicle with ID 57 is 22.9 meters away at (-22.5, 4.2).

The unknown object with ID 51 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 [4.272176  1.9359581] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [1.0361742 1.0675057] m/s.The vehicle with ID 56 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 52 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 [ 5.194094 -3.350784] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 2.9) m/s. Its current heading (yaw) is 0.82 radians with an angular velocity of 0.82 rad/s.

The most relevant actors are: A unknown object with ID 51 is 11.1 meters away at (-11.0, -1.4). A pedestrian with ID 61 is 11.6 meters away at (-0.4, 11.6). A vehicle with ID 60 is 12.5 meters away at (-10.6, 6.6). A vehicle with ID 19 is 12.9 meters away at (12.7, 2.5). A vehicle with ID 56 is 15.1 meters away at (-12.9, 7.8). A vehicle with ID 68 is 18.9 meters away at (-5.2, 18.2). A vehicle with ID 53 is 20.8 meters away at (20.2, 4.6). A vehicle with ID 54 is 21.5 meters away at (-21.5, 1.1). A vehicle with ID 52 is 23.9 meters away at (-23.3, -5.3). A vehicle with ID 7 is 24.2 meters away at (15.4, -18.7).

The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.7928962 1.2965405] m/s.The vehicle with ID 60 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 [ 4.720437  -2.2077029] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 0.6) m/s. Its current heading (yaw) is 0.16 radians with an angular velocity of 0.16 rad/s.

The most relevant actors are: A pedestrian with ID 61 is 11.3 meters away at (-5.1, 10.1). A vehicle with ID 53 is 13.9 meters away at (13.9, 0.7). A vehicle with ID 60 is 17.0 meters away at (-16.8, 2.6). A unknown object with ID 51 is 18.1 meters away at (-17.3, -5.4). A vehicle with ID 68 is 18.2 meters away at (-11.6, 14.1). A vehicle with ID 19 is 18.6 meters away at (16.5, -8.6). A vehicle with ID 56 is 19.6 meters away at (-19.2, 3.9). A pedestrian with ID 30 is 23.6 meters away at (23.0, 5.6). A vehicle with ID 7 is 24.4 meters away at (9.2, -22.6). A vehicle with ID 65 is 24.6 meters away at (-16.7, 18.1).

The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8051969 1.2978462] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 5.728123 -4.365287] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.1044155   0.72410953] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -2.5) m/s. Its current heading (yaw) is -0.55 radians with an angular velocity of -0.55 rad/s.

The most relevant actors are: A vehicle with ID 53 is 6.5 meters away at (6.0, 2.7). A pedestrian with ID 30 is 15.1 meters away at (12.2, 8.8). A pedestrian with ID 61 is 18.7 meters away at (-11.6, 14.6). A vehicle with ID 50 is 19.8 meters away at (19.5, -3.3). A vehicle with ID 7 is 20.6 meters away at (1.1, -20.6). A vehicle with ID 8 is 22.6 meters away at (-0.5, -22.6). A vehicle with ID 60 is 25.3 meters away at (-24.8, 4.7). A vehicle with ID 68 is 25.4 meters away at (-19.5, 16.3). A unknown object with ID 51 is 25.5 meters away at (-25.3, -3.3). A vehicle with ID 19 is 26.9 meters away at (21.3, -16.5).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-1.3353441   0.54189575] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8840128 1.2593703] m/s.The vehicle with ID 50 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 8 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 68 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 vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.7881217 -5.424221 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.2, 3.5) 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 unknown object with ID 63 is 7.6 meters away at (0.1, -7.6). A pedestrian with ID 65 is 10.2 meters away at (-7.8, -6.5). A pedestrian with ID 38 is 21.3 meters away at (6.8, 20.2). A vehicle with ID 2 is 24.1 meters away at (20.9, -11.9). A unknown object with ID 45 is 24.7 meters away at (-10.5, 22.3). A unknown object with ID 44 is 26.6 meters away at (-12.7, 23.4). A unknown object with ID 58 is 28.2 meters away at (-14.5, 24.2). A pedestrian with ID 71 is 28.8 meters away at (-11.5, 26.4). A pedestrian with ID 28 is 32.7 meters away at (-15.0, 29.1). A pedestrian with ID 50 is 36.9 meters away at (31.2, 19.7).

The unknown object with ID 63 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 [-0.08797862 -1.2890847 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.00475913 0.00576475] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.147682   4.296314] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.8960918 -1.2481475] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.55028653 -1.242242  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.4590127  -0.02872368] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 3.8) 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 unknown object with ID 45 is 16.5 meters away at (6.8, 15.0). A unknown object with ID 44 is 16.7 meters away at (4.6, 16.0). A unknown object with ID 58 is 17.1 meters away at (2.8, 16.9). A pedestrian with ID 71 is 18.1 meters away at (7.2, 16.6). A pedestrian with ID 65 is 19.2 meters away at (10.5, -16.1). A pedestrian with ID 28 is 19.4 meters away at (3.1, 19.1). A vehicle with ID 2 is 19.9 meters away at (17.0, -10.2). A unknown object with ID 63 is 22.9 meters away at (17.4, -14.9). A cyclist with ID 51 is 27.3 meters away at (24.2, 12.6). A cyclist with ID 31 is 41.4 meters away at (-27.1, 31.3).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.6235259 -1.272527 ] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.79277873 -0.98887384] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.33115312 -1.3760334 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.788975    4.5917225] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 51 is traveling at a (x, y) velocity of [ 0.02856042 -0.01979176] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.705696  -1.9155202] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, 4.1) 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 2 is 16.3 meters away at (13.7, -8.8). A cyclist with ID 31 is 19.3 meters away at (1.0, 19.3). A pedestrian with ID 28 is 24.1 meters away at (22.4, 8.8). A unknown object with ID 44 is 24.7 meters away at (23.3, 8.3). A unknown object with ID 45 is 26.4 meters away at (25.4, 7.2). A pedestrian with ID 71 is 27.6 meters away at (26.8, 6.4). A vehicle with ID 33 is 36.7 meters away at (-30.9, -19.7). A pedestrian with ID 65 is 39.8 meters away at (30.0, -26.2). A vehicle with ID 30 is 42.6 meters away at (-19.4, -37.9). A vehicle with ID 53 is 46.0 meters away at (-37.0, -27.3).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-11.363607    4.7767696] m/s.The cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.2855077 -1.9633875] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.20794985 -1.1688046 ] m/s.The unknown object with ID 44 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 pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.0842583 -1.1793298] m/s.The vehicle with ID 33 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 [ 0.15802212 -1.0296469 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 3.9) m/s. Its current heading (yaw) is 2.75 radians with an angular velocity of 2.75 rad/s.

The most relevant actors are: A vehicle with ID 2 is 12.1 meters away at (9.8, -7.1). A unknown object with ID 40 is 16.2 meters away at (5.2, -15.3). A vehicle with ID 33 is 30.1 meters away at (-12.3, -27.5). A cyclist with ID 31 is 30.5 meters away at (29.3, 8.5). A pedestrian with ID 4 is 33.2 meters away at (-15.6, 29.3). A vehicle with ID 53 is 39.6 meters away at (-18.5, -35.0). A vehicle with ID 36 is 40.7 meters away at (-39.0, -11.8). A pedestrian with ID 28 is 41.5 meters away at (41.5, -1.4). A unknown object with ID 61 is 43.9 meters away at (42.2, 11.9). A vehicle with ID 54 is 44.2 meters away at (-21.5, -38.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-11.029505   4.634398] m/s.The unknown object with ID 40 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 cyclist with ID 31 is traveling at a (x, y) velocity of [ 4.626187  -1.1508688] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.74143016 -0.3395233 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.30191684 -1.1667224 ] m/s.The unknown object with ID 61 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.6) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 31 is 30.1 meters away at (-3.1, -30.0). A vehicle with ID 36 is 35.7 meters away at (-20.1, -29.5). A vehicle with ID 37 is 36.4 meters away at (-22.6, -28.5). A vehicle with ID 32 is 42.2 meters away at (-7.5, -41.6). A vehicle with ID 5 is 43.9 meters away at (-17.3, -40.3). A vehicle with ID 33 is 49.5 meters away at (-9.8, -48.5). A vehicle with ID 30 is 59.5 meters away at (-22.2, -55.2). A vehicle with ID 38 is 67.5 meters away at (47.7, 47.8). A vehicle with ID 2 is 74.4 meters away at (-26.7, -69.5).

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 37 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 5 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 vehicle with ID 38 is traveling at a (x, y) velocity of [0.68334174 0.1181477 ] m/s.The vehicle with ID 2 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, -7.3) 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 31 is 16.2 meters away at (1.6, -16.1). A vehicle with ID 36 is 21.9 meters away at (-15.4, -15.6). A vehicle with ID 37 is 23.0 meters away at (-17.8, -14.6). A vehicle with ID 21 is 26.7 meters away at (-23.3, -13.2). A vehicle with ID 32 is 27.7 meters away at (-2.7, -27.6). A vehicle with ID 9 is 28.2 meters away at (-25.5, -12.0). A vehicle with ID 5 is 29.3 meters away at (-12.5, -26.4). A vehicle with ID 7 is 30.2 meters away at (-28.1, -10.9). A vehicle with ID 28 is 34.2 meters away at (-32.8, -9.5). A vehicle with ID 33 is 34.9 meters away at (-5.0, -34.5).

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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 28 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.8) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 31 is 6.6 meters away at (6.2, -2.3). A vehicle with ID 36 is 10.9 meters away at (-10.8, -1.7). A vehicle with ID 37 is 13.2 meters away at (-13.2, -0.7). A vehicle with ID 32 is 13.9 meters away at (2.0, -13.7). A vehicle with ID 5 is 14.8 meters away at (-7.9, -12.5). A vehicle with ID 21 is 18.6 meters away at (-18.6, 0.8). A vehicle with ID 33 is 20.5 meters away at (-0.3, -20.5). A vehicle with ID 9 is 20.9 meters away at (-20.8, 1.9). A vehicle with ID 7 is 23.7 meters away at (-23.5, 2.9). A vehicle with ID 28 is 28.5 meters away at (-28.2, 4.4).

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 37 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 5 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.4) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 5 is 3.6 meters away at (-3.6, 0.5). A vehicle with ID 32 is 6.3 meters away at (6.3, -0.6). A vehicle with ID 33 is 8.5 meters away at (4.0, -7.5). A vehicle with ID 36 is 13.0 meters away at (-6.5, 11.3). A vehicle with ID 31 is 15.0 meters away at (10.5, 10.6). A vehicle with ID 37 is 15.3 meters away at (-8.9, 12.4). A vehicle with ID 30 is 16.6 meters away at (-8.5, -14.2). A vehicle with ID 21 is 19.9 meters away at (-14.3, 13.8). A vehicle with ID 9 is 22.2 meters away at (-16.5, 14.9). A vehicle with ID 2 is 31.2 meters away at (-13.0, -28.3).

The vehicle with ID 5 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 (-5.5, 5.6) m/s. Its current heading (yaw) is 2.35 radians with an angular velocity of 2.35 rad/s.

The most relevant actors are: A pedestrian with ID 44 is 15.5 meters away at (14.4, -5.8). A vehicle with ID 43 is 16.9 meters away at (14.3, -9.0). A vehicle with ID 42 is 24.7 meters away at (-11.9, 21.6). A vehicle with ID 5 is 33.2 meters away at (23.1, -23.8). A unknown object with ID 36 is 40.1 meters away at (1.2, -40.1). A unknown object with ID 18 is 42.8 meters away at (-1.4, -42.8). A vehicle with ID 45 is 58.0 meters away at (-1.5, -58.0).

The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.9511202 -0.5039252] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-1.4989736  4.2686577] 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 5.4) m/s. Its current heading (yaw) is 2.38 radians with an angular velocity of 2.38 rad/s.

The most relevant actors are: A vehicle with ID 42 is 10.4 meters away at (-0.7, 10.4). A vehicle with ID 43 is 32.2 meters away at (25.3, -20.0). A vehicle with ID 5 is 37.9 meters away at (27.2, -26.4). A vehicle with ID 1 is 63.1 meters away at (-44.6, 44.6). A vehicle with ID 45 is 69.8 meters away at (9.7, -69.2).

The vehicle with ID 42 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 5 is traveling at a (x, y) velocity of [-5.1602993  4.8254323] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 4.9) 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 42 is 10.6 meters away at (10.6, 0.1). A vehicle with ID 33 is 27.5 meters away at (2.5, 27.3). A vehicle with ID 5 is 37.3 meters away at (26.9, -25.8). A vehicle with ID 43 is 47.1 meters away at (36.2, -30.2). A vehicle with ID 1 is 47.8 meters away at (-33.3, 34.2). A unknown object with ID 38 is 66.3 meters away at (31.1, -58.5). A vehicle with ID 6 is 66.6 meters away at (-52.3, 41.3).

The vehicle with ID 42 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 5 is traveling at a (x, y) velocity of [-6.281022   6.1294494] m/s.The vehicle with ID 43 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 unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.0425363 -3.5277493] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A unknown object with ID 40 is 6.0 meters away at (-2.0, 5.7). A unknown object with ID 2 is 7.6 meters away at (-3.3, 6.9). A vehicle with ID 42 is 23.3 meters away at (21.4, -9.1). A vehicle with ID 5 is 33.2 meters away at (24.7, -22.2). A vehicle with ID 1 is 33.6 meters away at (-22.6, 25.0). A vehicle with ID 6 is 41.0 meters away at (-32.9, 24.5). A unknown object with ID 27 is 41.4 meters away at (-35.5, 21.4). A vehicle with ID 43 is 61.4 meters away at (47.0, -39.4).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.79221    6.3911343] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.626587 -4.167578] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.9) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 10.7 meters away at (-6.9, -8.1). A vehicle with ID 37 is 11.1 meters away at (11.1, -0.6). A pedestrian with ID 36 is 21.4 meters away at (-21.2, -2.7). A pedestrian with ID 15 is 23.5 meters away at (-15.1, 17.9). A vehicle with ID 39 is 25.3 meters away at (-14.5, -20.7). A vehicle with ID 40 is 31.6 meters away at (30.7, -7.3). A vehicle with ID 41 is 31.6 meters away at (-31.4, 3.7). A vehicle with ID 42 is 35.7 meters away at (26.4, -24.0). A vehicle with ID 43 is 36.1 meters away at (-35.7, 5.4). A vehicle with ID 44 is 38.4 meters away at (-33.8, 18.3).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3695109 -0.6313612] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.58749264 1.4916934 ] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.6712858 1.2535121] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 3.4) m/s. Its current heading (yaw) is 2.09 radians with an angular velocity of 2.09 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 13.4 meters away at (-0.1, -13.4). A pedestrian with ID 36 is 16.2 meters away at (-15.8, -3.6). A vehicle with ID 37 is 16.2 meters away at (15.5, -4.7). A pedestrian with ID 15 is 19.0 meters away at (-9.6, 16.4). A vehicle with ID 39 is 26.9 meters away at (-10.0, -25.0). A vehicle with ID 41 is 27.0 meters away at (-27.0, -0.7). A vehicle with ID 43 is 31.3 meters away at (-31.2, 1.0). A vehicle with ID 44 is 32.5 meters away at (-29.4, 14.0). A vehicle with ID 45 is 35.9 meters away at (-32.8, 14.5). A vehicle with ID 40 is 37.0 meters away at (35.2, -11.4).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.2832626  -0.46454537] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.46972355 1.7304863 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.51395273 1.3721504 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 6.5) m/s. Its current heading (yaw) is 1.40 radians with an angular velocity of 1.40 rad/s.

The most relevant actors are: A pedestrian with ID 15 is 11.2 meters away at (-7.2, 8.5). A pedestrian with ID 36 is 17.0 meters away at (-13.3, -10.6). A vehicle with ID 37 is 22.7 meters away at (16.7, -15.4). A pedestrian with ID 38 is 25.3 meters away at (3.5, -25.0). A vehicle with ID 41 is 28.0 meters away at (-25.7, -11.1). A vehicle with ID 44 is 28.2 meters away at (-27.9, 3.5). A vehicle with ID 43 is 31.4 meters away at (-29.9, -9.5). A vehicle with ID 39 is 36.6 meters away at (-8.9, -35.5). A vehicle with ID 35 is 43.3 meters away at (6.4, 42.8). A pedestrian with ID 13 is 54.0 meters away at (6.8, 53.6).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.56487745 1.2503972 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.45089674 1.6277665 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.1044585 -0.590376 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.8870161 1.9901539] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.5) 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 pedestrian with ID 15 is 10.9 meters away at (-10.4, -3.3). A vehicle with ID 29 is 24.3 meters away at (23.1, 7.5). A pedestrian with ID 36 is 27.2 meters away at (-16.4, -21.7). A vehicle with ID 35 is 28.5 meters away at (2.3, 28.4). A vehicle with ID 16 is 28.7 meters away at (28.1, 5.7). A vehicle with ID 24 is 33.3 meters away at (33.1, 4.2). A pedestrian with ID 38 is 40.5 meters away at (1.9, -40.5). A pedestrian with ID 13 is 44.4 meters away at (4.4, 44.2). A vehicle with ID 1 is 49.5 meters away at (18.1, 46.0). A vehicle with ID 39 is 51.5 meters away at (-12.9, -49.9).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.45737138 1.3605019 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.5273292 1.6404616] m/s.The vehicle with ID 35 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3692231  -0.47936508] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.80073607 2.253052  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

The most relevant actors are: A cyclist with ID 16 is 3.0 meters away at (2.6, -1.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.4). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.0 meters away at (0.2, 10.0). A vehicle with ID 23 is 17.8 meters away at (-11.1, -13.9). A vehicle with ID 33 is 25.4 meters away at (3.9, 25.1). A pedestrian with ID 24 is 28.1 meters away at (6.4, 27.3). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A vehicle with ID 36 is 36.6 meters away at (23.0, -28.6). A unknown object with ID 34 is 51.5 meters away at (-51.2, 6.3).

The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.11248016 -2.2971895 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 4.125395  -3.2770183] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.247361  0.633637] m/s.The vehicle with ID 27 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 [-3.5670474  1.2642211] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

The most relevant actors are: A cyclist with ID 16 is 4.9 meters away at (2.5, -4.3). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.4). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.1 meters away at (0.2, 10.1). A vehicle with ID 23 is 22.6 meters away at (-4.3, -22.2). A vehicle with ID 33 is 25.4 meters away at (3.9, 25.1). A vehicle with ID 36 is 32.8 meters away at (18.7, -27.0). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A unknown object with ID 38 is 52.6 meters away at (35.1, -39.2). A unknown object with ID 39 is 60.4 meters away at (41.0, -44.3).

The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.05036886 -0.5832887 ] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 2.2050295 -5.039087 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.1926087   0.38903132] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

The most relevant actors are: A cyclist with ID 16 is 5.1 meters away at (2.5, -4.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.5). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.0 meters away at (0.2, 10.0). A pedestrian with ID 19 is 21.9 meters away at (-20.8, 6.6). A vehicle with ID 33 is 25.5 meters away at (3.9, 25.2). A vehicle with ID 36 is 31.3 meters away at (16.9, -26.3). A vehicle with ID 23 is 33.4 meters away at (-3.1, -33.2). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A pedestrian with ID 12 is 40.4 meters away at (-38.8, 11.1).

The cyclist with ID 16 is traveling at a (x, y) velocity of [0.0121834  0.00892179] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 19 is traveling at a (x, y) velocity of [ 1.0853382  -0.33647147] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7799168   0.61085117] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.8666136 -5.9719124] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.18495795 -1.3465618 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

The most relevant actors are: A cyclist with ID 16 is 5.1 meters away at (2.5, -4.4). A unknown object with ID 18 is 5.5 meters away at (-4.3, 3.5). A unknown object with ID 20 is 6.3 meters away at (-3.6, 5.2). A vehicle with ID 21 is 10.1 meters away at (0.2, 10.1). A pedestrian with ID 19 is 19.7 meters away at (-18.8, 6.1). A vehicle with ID 33 is 25.5 meters away at (3.9, 25.2). A vehicle with ID 36 is 25.8 meters away at (9.8, -23.8). A vehicle with ID 27 is 33.4 meters away at (-15.5, -29.6). A vehicle with ID 23 is 46.3 meters away at (-6.6, -45.8). A unknown object with ID 8 is 51.5 meters away at (-51.2, 6.3).

The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.01874764 -0.01456255] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 19 is traveling at a (x, y) velocity of [ 0.90705234 -0.24215677] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-4.9394855  1.8687271] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-2.3004513 -6.7766604] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 6.0) m/s. Its current heading (yaw) is 2.40 radians with an angular velocity of 2.40 rad/s.

The most relevant actors are: A vehicle with ID 125 is 5.7 meters away at (-5.4, -1.8). A pedestrian with ID 72 is 7.5 meters away at (7.4, 1.5). A pedestrian with ID 121 is 7.8 meters away at (7.0, 3.4). A vehicle with ID 117 is 8.3 meters away at (7.9, -2.6). A unknown object with ID 51 is 12.0 meters away at (12.0, 0.8). A unknown object with ID 82 is 12.5 meters away at (-12.3, -2.0). A unknown object with ID 122 is 12.9 meters away at (-1.2, -12.8). A pedestrian with ID 123 is 15.0 meters away at (-3.9, -14.5). A vehicle with ID 119 is 15.9 meters away at (1.8, -15.8). A vehicle with ID 13 is 20.4 meters away at (14.8, -14.1).

The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.1638877 -0.9356477] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [-1.0767876   0.87747663] m/s.The vehicle with ID 117 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 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.57346874 -1.0635532 ] m/s.The vehicle with ID 119 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 [-6.573231  6.175472] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 6.0) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A unknown object with ID 104 is 11.3 meters away at (-2.9, -10.9). A vehicle with ID 61 is 12.8 meters away at (-12.3, 3.5). A vehicle with ID 125 is 15.9 meters away at (7.8, -13.8). A unknown object with ID 37 is 16.8 meters away at (-16.4, 3.6). A pedestrian with ID 121 is 19.7 meters away at (18.6, -6.7). A unknown object with ID 86 is 20.5 meters away at (-19.4, 6.5). A vehicle with ID 13 is 20.8 meters away at (15.5, -13.9). A unknown object with ID 81 is 23.7 meters away at (21.8, -9.3). A unknown object with ID 36 is 24.3 meters away at (-22.4, 9.4). A vehicle with ID 67 is 25.1 meters away at (24.4, 5.8).

The unknown object with ID 104 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 [ 5.363211  -5.4809427] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 121 is traveling at a (x, y) velocity of [-0.8453718   0.96053195] m/s.The unknown object with ID 86 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 [-6.422656   5.9535856] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 6.3) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A unknown object with ID 86 is 7.9 meters away at (-5.1, -6.0). A unknown object with ID 36 is 8.7 meters away at (-8.2, -3.1). A unknown object with ID 37 is 9.2 meters away at (-2.0, -9.0). A unknown object with ID 47 is 11.3 meters away at (-11.3, -0.2). A pedestrian with ID 29 is 14.0 meters away at (-2.7, 13.7). A unknown object with ID 53 is 14.6 meters away at (-14.4, 2.6). A pedestrian with ID 40 is 15.4 meters away at (-15.0, -3.7). A vehicle with ID 61 is 20.6 meters away at (10.8, -17.5). A unknown object with ID 44 is 20.9 meters away at (-12.6, 16.7). A vehicle with ID 13 is 22.2 meters away at (16.9, -14.5).

The unknown object with ID 86 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.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1692319  1.2290126] 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 [ 1.0347817 -1.0035672] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 3.318887  -3.1491392] m/s.The unknown object with ID 44 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 [-6.7684045  6.0537467] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 6.7) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A pedestrian with ID 27 is 9.1 meters away at (2.8, 8.6). A vehicle with ID 50 is 9.6 meters away at (3.1, -9.1). A pedestrian with ID 29 is 10.5 meters away at (10.0, 3.2). A unknown object with ID 53 is 10.6 meters away at (0.7, -10.6). A vehicle with ID 25 is 12.4 meters away at (-12.3, -1.2). A unknown object with ID 47 is 14.0 meters away at (3.9, -13.4). A pedestrian with ID 84 is 14.9 meters away at (-14.2, -4.3). A vehicle with ID 76 is 16.7 meters away at (-7.4, -14.9). A unknown object with ID 36 is 17.8 meters away at (7.1, -16.3). A pedestrian with ID 40 is 18.5 meters away at (2.2, -18.4).

The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.9245783 -1.219304 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 7.3624396 -7.0691123] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.2642192  1.0735309] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-1.0438361  0.9290389] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.90159714 -0.9612234 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.5) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A cyclist with ID 6 is 16.9 meters away at (13.7, -9.8). A vehicle with ID 26 is 19.1 meters away at (10.0, 16.3). A unknown object with ID 18 is 42.1 meters away at (35.8, -22.2). A vehicle with ID 24 is 71.1 meters away at (43.3, -56.3).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.026708   7.7223024] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [5.8750095 3.9648957] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-7.1323028 12.662539 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 4.9) m/s. Its current heading (yaw) is 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A cyclist with ID 6 is 13.9 meters away at (11.9, -7.2). A vehicle with ID 26 is 36.7 meters away at (32.0, 17.9). A unknown object with ID 15 is 37.3 meters away at (29.3, -23.1). A vehicle with ID 24 is 60.3 meters away at (45.7, -39.3).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.882945   4.8312755] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [2.1189222 7.1884875] m/s.The unknown object with ID 15 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 [-4.6872   14.217902] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 4.5) 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 cyclist with ID 6 is 12.9 meters away at (10.6, -7.3). A vehicle with ID 24 is 56.5 meters away at (53.3, -18.9).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-8.0112295  4.9732895] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-1.6074272 15.127777 ] 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, 4.1) 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 cyclist with ID 6 is 10.2 meters away at (8.4, -5.9). A unknown object with ID 25 is 61.3 meters away at (-54.5, 28.0). A vehicle with ID 19 is 79.5 meters away at (66.8, -43.1).

The cyclist with ID 6 is traveling at a (x, y) velocity of [-7.2565284  4.5904765] m/s.The unknown object with ID 25 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 [-2.2935805 13.739266 ] 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, -5.7) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A vehicle with ID 35 is 23.9 meters away at (23.5, 3.9). A vehicle with ID 36 is 29.6 meters away at (28.1, 9.1). A vehicle with ID 37 is 35.8 meters away at (27.7, 22.8). A vehicle with ID 34 is 45.8 meters away at (-45.8, 2.5). A unknown object with ID 25 is 48.4 meters away at (-32.7, -35.6). A pedestrian with ID 21 is 62.2 meters away at (-57.1, 24.6). A pedestrian with ID 7 is 63.7 meters away at (51.2, -37.9). A vehicle with ID 38 is 69.8 meters away at (-67.3, 18.5). A vehicle with ID 40 is 73.9 meters away at (-51.5, 53.0).

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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-2.1777048  3.1506748] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.0285837  -0.02949996] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2210579   0.73829186] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -5.6) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 35 is 18.4 meters away at (10.1, 15.3). A vehicle with ID 36 is 25.3 meters away at (14.8, 20.6). A pedestrian with ID 7 is 43.1 meters away at (35.1, -25.2). A vehicle with ID 34 is 64.3 meters away at (-60.4, 22.0). A unknown object with ID 17 is 65.9 meters away at (32.3, -57.5).

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 pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2854886  0.7528114] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [1.5389087 4.5600224] m/s.The unknown object 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 (8.1, -4.4) m/s. Its current heading (yaw) is -0.49 radians with an angular velocity of -0.49 rad/s.

The most relevant actors are: A pedestrian with ID 7 is 22.1 meters away at (17.4, -13.6). A vehicle with ID 35 is 26.1 meters away at (-4.9, 25.6). A unknown object with ID 17 is 50.3 meters away at (17.2, -47.3). A vehicle with ID 24 is 56.3 meters away at (41.1, -38.5). A unknown object with ID 19 is 64.6 meters away at (61.7, -19.1). A vehicle with ID 3 is 67.1 meters away at (65.5, -14.6). A vehicle with ID 28 is 70.2 meters away at (-70.2, 2.8). A vehicle with ID 16 is 70.5 meters away at (61.3, -34.8). A vehicle with ID 34 is 80.5 meters away at (-69.7, 40.3).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2906433   0.68065315] m/s.The vehicle with ID 35 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 vehicle with ID 24 is traveling at a (x, y) velocity of [-6.5227394 -5.1258903] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 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 [-7.806584   1.3157727] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [3.5339015 3.7133718] m/s.

Instruction: Slight right turn approaching.