The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 0.8) m/s. Its current heading (yaw) is 0.52 radians with an angular velocity of 0.52 rad/s.

The most relevant actors are: A vehicle with ID 5 is 8.2 meters away at (6.9, 4.4). A pedestrian with ID 42 is 9.0 meters away at (9.0, 0.8). A pedestrian with ID 48 is 9.9 meters away at (9.8, 1.2). A vehicle with ID 7 is 12.0 meters away at (-9.8, -6.9). A vehicle with ID 53 is 13.2 meters away at (12.9, 2.8). A vehicle with ID 57 is 14.2 meters away at (-3.8, -13.7). A pedestrian with ID 60 is 15.2 meters away at (6.5, -13.7). A pedestrian with ID 44 is 15.2 meters away at (-6.5, -13.8). A pedestrian with ID 62 is 15.4 meters away at (5.7, -14.3). A pedestrian with ID 64 is 16.3 meters away at (5.6, -15.3).

The vehicle with ID 5 is traveling at a (x, y) velocity of [1.1702178  0.72766936] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.00553394  0.00063485] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.03616173 0.00994181] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [1.0151155 0.6399445] m/s.The vehicle with ID 53 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 60 is traveling at a (x, y) velocity of [ 0.08921745 -0.02308365] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.7271843  0.47435957] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.11409372 -0.01982779] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.06110374 -0.00660047] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.4) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 6.0 meters away at (5.9, -1.2). A vehicle with ID 51 is 6.8 meters away at (6.3, -2.6). A vehicle with ID 5 is 10.0 meters away at (8.5, 5.4). A vehicle with ID 53 is 10.0 meters away at (10.0, 1.0). A vehicle with ID 7 is 12.8 meters away at (-10.5, -7.4). A pedestrian with ID 60 is 16.0 meters away at (3.6, -15.6). A pedestrian with ID 62 is 16.4 meters away at (2.9, -16.1). A pedestrian with ID 44 is 16.5 meters away at (-7.9, -14.5). A vehicle with ID 57 is 17.0 meters away at (-6.8, -15.6). A pedestrian with ID 63 is 17.3 meters away at (5.4, -16.5).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-0.04106284 -0.03536629] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [3.3892803 2.1146348] m/s.The vehicle with ID 53 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 [1.398456   0.86819655] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.04145161 -0.00640836] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01324812 -0.00477399] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.5535665 0.5310431] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.02585623 -0.02456685] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -8.7) m/s. Its current heading (yaw) is -2.03 radians with an angular velocity of -2.03 rad/s.

The most relevant actors are: A vehicle with ID 44 is 20.9 meters away at (-14.7, 14.9). A vehicle with ID 38 is 21.3 meters away at (-15.3, -14.8). A vehicle with ID 43 is 22.7 meters away at (20.2, -10.3). A vehicle with ID 37 is 31.7 meters away at (9.6, 30.2). A vehicle with ID 8 is 31.9 meters away at (13.2, 29.1). A unknown object with ID 40 is 41.9 meters away at (41.9, 0.8). A vehicle with ID 45 is 42.3 meters away at (34.3, -24.8). A vehicle with ID 39 is 42.5 meters away at (-23.9, -35.1). A unknown object with ID 41 is 42.6 meters away at (42.6, -1.1). A vehicle with ID 34 is 42.8 meters away at (-36.5, -22.4).

The vehicle with ID 44 is traveling at a (x, y) velocity of [ 5.4869847 12.072432 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -9.468796 -16.286049] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.680493   2.7860856] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -7.2365203 -17.298922 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.7618604 -9.052189 ] 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 [-3.6091957  6.716923 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ -9.1248665 -13.928585 ] m/s.The unknown object with ID 41 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 [ 7.851862 12.694415] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -8.4) 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 vehicle with ID 37 is 14.3 meters away at (3.2, 13.9). A vehicle with ID 25 is 16.5 meters away at (-14.1, 8.6). A vehicle with ID 43 is 22.1 meters away at (20.1, 9.2). A vehicle with ID 34 is 24.2 meters away at (-12.5, 20.7). A vehicle with ID 8 is 31.6 meters away at (14.4, 28.2). A vehicle with ID 45 is 37.0 meters away at (36.6, 5.2). A vehicle with ID 38 is 40.0 meters away at (-26.9, -29.5). A unknown object with ID 14 is 41.8 meters away at (39.5, -13.9). A vehicle with ID 36 is 43.9 meters away at (16.4, 40.7). A vehicle with ID 33 is 47.8 meters away at (-40.0, -26.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ -8.331266 -15.979689] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 7.045954 12.523804] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.238403  -0.1395017] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.757736 13.134649] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.31317  -9.091037] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.235086  6.124796] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-11.137537 -15.760925] m/s.The unknown object with ID 14 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 [ -7.280342 -16.930647] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 8.545924 12.104194] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -7.8) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A vehicle with ID 37 is 3.9 meters away at (-3.7, 1.2). A vehicle with ID 33 is 20.3 meters away at (-13.4, 15.1). A vehicle with ID 36 is 27.7 meters away at (11.0, 25.5). A vehicle with ID 8 is 30.9 meters away at (15.4, 26.8). A vehicle with ID 43 is 34.3 meters away at (23.7, 24.8). A unknown object with ID 14 is 49.5 meters away at (49.5, 2.6). A vehicle with ID 25 is 51.6 meters away at (9.0, 50.8). A vehicle with ID 45 is 52.5 meters away at (40.7, 33.1). A vehicle with ID 38 is 59.1 meters away at (-39.7, -43.8). A vehicle with ID 19 is 63.7 meters away at (45.1, -45.0).

The vehicle with ID 37 is traveling at a (x, y) velocity of [ -8.834667 -13.780748] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.8991675 12.768253 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ -8.541907 -15.26358 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.9521074 -8.931456 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.996851   -0.59068334] m/s.The unknown object with ID 14 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 [ 5.7299585 13.120803 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.6479516  4.7187867] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-11.733206 -15.625662] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -6.3) m/s. Its current heading (yaw) is -2.19 radians with an angular velocity of -2.19 rad/s.

The most relevant actors are: A vehicle with ID 36 is 10.2 meters away at (2.3, 9.9). A vehicle with ID 37 is 16.8 meters away at (-12.3, -11.4). A vehicle with ID 8 is 27.8 meters away at (15.1, 23.3). A vehicle with ID 43 is 49.4 meters away at (31.4, 38.2). A cyclist with ID 26 is 52.0 meters away at (-45.9, -24.5). A vehicle with ID 33 is 56.7 meters away at (11.2, 55.6). A vehicle with ID 21 is 57.6 meters away at (-45.9, -34.9). A unknown object with ID 14 is 61.3 meters away at (59.0, 16.7). A vehicle with ID 19 is 63.0 meters away at (54.9, -30.9).

The vehicle with ID 36 is traveling at a (x, y) velocity of [ -9.612476 -14.100158] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -9.774095  -13.4016285] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.0333533 -8.487893 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [10.045503 13.978321] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.890015 13.615991] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [10.395778 13.94005 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.9) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A unknown object with ID 105 is 13.4 meters away at (-12.3, -5.2). A vehicle with ID 86 is 13.6 meters away at (-11.3, -7.6). A vehicle with ID 54 is 20.8 meters away at (-15.8, 13.5). A unknown object with ID 110 is 21.6 meters away at (-21.5, 2.5). A unknown object with ID 112 is 21.8 meters away at (-21.8, 1.7). A unknown object with ID 121 is 22.6 meters away at (-22.4, 3.2). A unknown object with ID 56 is 23.1 meters away at (-22.9, 3.4). A unknown object with ID 108 is 28.5 meters away at (-28.0, 5.3). A vehicle with ID 46 is 29.1 meters away at (21.4, -19.7). A vehicle with ID 124 is 35.0 meters away at (35.0, 1.0).

The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-0.03039016 -0.4842795 ] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-7.023363   5.7883916] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 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 [-4.8339505  4.301245 ] m/s.The vehicle with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, 5.3) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A pedestrian with ID 80 is 10.7 meters away at (8.8, 6.1). A pedestrian with ID 122 is 11.6 meters away at (9.3, 6.9). A unknown object with ID 110 is 12.8 meters away at (-10.2, -7.7). A unknown object with ID 103 is 13.0 meters away at (-10.9, -7.1). A unknown object with ID 67 is 13.1 meters away at (-10.3, -8.1). A unknown object with ID 112 is 13.2 meters away at (-10.5, -7.9). A unknown object with ID 121 is 13.4 meters away at (-11.4, -7.0). A unknown object with ID 56 is 13.6 meters away at (-11.8, -6.7). A unknown object with ID 105 is 15.5 meters away at (-1.1, -15.5). A vehicle with ID 72 is 16.1 meters away at (2.5, 15.9).

The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.00440712 -0.0029924 ] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [0.02001581 0.00943697] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 5.3) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A pedestrian with ID 55 is 14.4 meters away at (-6.5, 12.8). A pedestrian with ID 51 is 15.6 meters away at (-9.6, 12.2). A unknown object with ID 108 is 15.9 meters away at (-4.2, -15.4). A vehicle with ID 72 is 16.2 meters away at (15.3, 5.2). A unknown object with ID 56 is 17.4 meters away at (0.9, -17.4). A unknown object with ID 113 is 17.6 meters away at (1.4, -17.5). A unknown object with ID 121 is 17.8 meters away at (1.0, -17.8). A unknown object with ID 103 is 17.9 meters away at (1.7, -17.8). A unknown object with ID 110 is 18.3 meters away at (2.2, -18.1). A unknown object with ID 67 is 18.6 meters away at (2.5, -18.4).

The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.75624025  0.64891577] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01193304 -0.0056398 ] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 121 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 5.7) 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 pedestrian with ID 51 is 4.1 meters away at (3.9, 1.2). A vehicle with ID 48 is 5.3 meters away at (-4.8, -2.1). A pedestrian with ID 55 is 6.2 meters away at (5.7, 2.4). A vehicle with ID 47 is 8.6 meters away at (-8.5, -1.7). A pedestrian with ID 60 is 9.9 meters away at (-2.6, 9.6). A vehicle with ID 74 is 13.6 meters away at (-13.5, -1.5). A vehicle with ID 39 is 19.7 meters away at (-19.0, 5.0). A vehicle with ID 36 is 24.2 meters away at (-22.5, 9.1). A vehicle with ID 46 is 27.3 meters away at (20.8, -17.6). A unknown object with ID 108 is 28.0 meters away at (9.4, -26.3).

The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.01957769  0.00099108] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.61045796  0.03431123] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [ 1.7161715 -1.6792847] m/s.The vehicle with ID 74 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 36 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 [-6.7844815  5.6481624] m/s.The unknown object with ID 108 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 (3.0, 1.5) m/s. Its current heading (yaw) is 0.46 radians with an angular velocity of 0.46 rad/s.

The most relevant actors are: A vehicle with ID 3 is 11.0 meters away at (-10.9, -0.8). A unknown object with ID 47 is 20.1 meters away at (13.8, 14.7). A unknown object with ID 48 is 20.4 meters away at (14.2, 14.7). A vehicle with ID 50 is 20.4 meters away at (20.1, 3.9). A unknown object with ID 49 is 20.6 meters away at (14.5, 14.7). A vehicle with ID 51 is 23.0 meters away at (23.0, 1.3). A vehicle with ID 52 is 26.1 meters away at (22.6, 13.1). A vehicle with ID 17 is 30.5 meters away at (24.5, -18.1). A pedestrian with ID 53 is 36.6 meters away at (33.4, -14.8). A unknown object with ID 55 is 44.1 meters away at (40.8, -17.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 2.7056694 -0.5581209] 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 0.05207096 -0.5034696 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.0469544  0.7870995] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [0.00113858 0.02445179] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 3.5) m/s. Its current heading (yaw) is 1.08 radians with an angular velocity of 1.08 rad/s.

The most relevant actors are: A vehicle with ID 3 is 11.3 meters away at (-9.6, -6.0). A unknown object with ID 47 is 12.9 meters away at (8.4, 9.8). A unknown object with ID 48 is 13.2 meters away at (8.9, 9.7). A unknown object with ID 49 is 13.4 meters away at (9.3, 9.7). A vehicle with ID 50 is 14.9 meters away at (14.8, -1.0). A vehicle with ID 51 is 18.1 meters away at (17.7, -3.7). A vehicle with ID 52 is 18.7 meters away at (17.3, 7.1). A pedestrian with ID 37 is 24.8 meters away at (21.3, 12.8). A vehicle with ID 17 is 26.5 meters away at (15.4, -21.5). A unknown object with ID 55 is 41.6 meters away at (35.4, -21.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [3.5145695 0.5960255] 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 48 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 vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 [0.0127424  0.00683726] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.2073321  1.1175727] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 4.6) m/s. Its current heading (yaw) is 1.49 radians with an angular velocity of 1.49 rad/s.

The most relevant actors are: A unknown object with ID 47 is 6.6 meters away at (6.4, 1.7). A unknown object with ID 49 is 7.3 meters away at (7.1, 1.5). A vehicle with ID 3 is 12.2 meters away at (-4.6, -11.3). A vehicle with ID 52 is 15.2 meters away at (15.2, -1.0). A vehicle with ID 50 is 15.6 meters away at (12.7, -9.2). A pedestrian with ID 37 is 19.7 meters away at (19.1, 4.7). A vehicle with ID 17 is 26.2 meters away at (7.6, -25.1). A cyclist with ID 25 is 28.0 meters away at (15.6, 23.2). A pedestrian with ID 5 is 40.2 meters away at (7.4, 39.5). A pedestrian with ID 4 is 40.7 meters away at (7.6, 39.9).

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 vehicle with ID 3 is traveling at a (x, y) velocity of [3.3016908 2.5835667] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00851602  0.00544778] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-2.984974  3.784489] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-1.0103316 -7.903981 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.7528788  0.4054424] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.7659302  0.3682609] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 5.1) m/s. Its current heading (yaw) is 1.56 radians with an angular velocity of 1.56 rad/s.

The most relevant actors are: A unknown object with ID 47 is 9.9 meters away at (5.9, -8.0). A unknown object with ID 49 is 10.5 meters away at (6.6, -8.2). A cyclist with ID 25 is 13.5 meters away at (13.4, -0.7). A vehicle with ID 3 is 13.6 meters away at (-0.6, -13.6). A vehicle with ID 52 is 18.2 meters away at (14.7, -10.7). A pedestrian with ID 37 is 19.3 meters away at (18.6, -5.0). A vehicle with ID 50 is 22.6 meters away at (12.2, -19.0). A vehicle with ID 17 is 24.8 meters away at (3.1, -24.6). A vehicle with ID 41 is 26.4 meters away at (15.0, -21.6). A pedestrian with ID 5 is 30.6 meters away at (6.8, 29.8).

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 cyclist with ID 25 is traveling at a (x, y) velocity of [-0.8292257 -6.2594113] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0.9777417 4.39433  ] m/s.The vehicle with ID 52 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 [-0.00363148  0.01968303] m/s.The vehicle with ID 50 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 [-0.75709414  6.115304  ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00590156 0.00977626] 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, 4.1) 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 unknown object with ID 12 is 69.2 meters away at (17.6, -66.9).

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

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 2.9) m/s. Its current heading (yaw) is 0.50 radians with an angular velocity of 0.50 rad/s.

The most relevant actors are: A unknown object with ID 5 is 34.5 meters away at (-22.4, -26.3).

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

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.4) m/s. Its current heading (yaw) is 0.22 radians with an angular velocity of 0.22 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.1) m/s. Its current heading (yaw) is 0.18 radians with an angular velocity of 0.18 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 8.5) m/s. Its current heading (yaw) is 1.86 radians with an angular velocity of 1.86 rad/s.

The most relevant actors are: A vehicle with ID 20 is 11.7 meters away at (-3.3, -11.2). A unknown object with ID 19 is 12.1 meters away at (-9.3, 7.6). A unknown object with ID 13 is 12.7 meters away at (-9.9, 7.9). A unknown object with ID 16 is 13.3 meters away at (-10.5, 8.0). A unknown object with ID 24 is 23.0 meters away at (-13.9, 18.3). A vehicle with ID 21 is 27.1 meters away at (1.1, -27.1). A vehicle with ID 25 is 61.5 meters away at (16.2, -59.3).

The vehicle with ID 20 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 7.8) m/s. Its current heading (yaw) is 1.94 radians with an angular velocity of 1.94 rad/s.

The most relevant actors are: A unknown object with ID 24 is 8.5 meters away at (-8.2, 2.3). A unknown object with ID 13 is 9.1 meters away at (-4.1, -8.1). A unknown object with ID 19 is 9.1 meters away at (-3.7, -8.3). A unknown object with ID 18 is 9.2 meters away at (-4.4, -8.1). A unknown object with ID 16 is 9.3 meters away at (-4.9, -7.9). A vehicle with ID 20 is 27.3 meters away at (2.5, -27.2). A vehicle with ID 21 is 43.7 meters away at (6.9, -43.1). A vehicle with ID 25 is 78.4 meters away at (21.7, -75.3).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 7.2) m/s. Its current heading (yaw) is 2.07 radians with an angular velocity of 2.07 rad/s.

The most relevant actors are: A unknown object with ID 24 is 12.9 meters away at (-1.6, -12.8). A unknown object with ID 15 is 18.1 meters away at (-3.0, 17.8). A unknown object with ID 18 is 23.2 meters away at (1.7, -23.1). A unknown object with ID 13 is 23.3 meters away at (2.2, -23.2). A unknown object with ID 16 is 23.4 meters away at (2.5, -23.3). A unknown object with ID 19 is 23.7 meters away at (2.9, -23.5). A vehicle with ID 20 is 43.3 meters away at (9.0, -42.4). A vehicle with ID 21 is 60.0 meters away at (13.5, -58.4). A vehicle with ID 5 is 69.0 meters away at (15.8, -67.2).

The unknown object with ID 24 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 8.0) m/s. Its current heading (yaw) is 1.99 radians with an angular velocity of 1.99 rad/s.

The most relevant actors are: A unknown object with ID 18 is 38.8 meters away at (10.3, -37.4). A unknown object with ID 13 is 38.9 meters away at (10.5, -37.4). A unknown object with ID 16 is 39.1 meters away at (11.0, -37.5). A unknown object with ID 19 is 39.5 meters away at (11.6, -37.8). A vehicle with ID 20 is 59.5 meters away at (18.0, -56.7). A vehicle with ID 1 is 67.5 meters away at (-30.8, 60.0). A vehicle with ID 21 is 76.0 meters away at (21.7, -72.8).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 20 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.2) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A vehicle with ID 15 is 18.3 meters away at (-13.2, 12.7). A vehicle with ID 19 is 20.7 meters away at (15.0, -14.3). A vehicle with ID 18 is 21.7 meters away at (-17.7, 12.5). A vehicle with ID 9 is 25.5 meters away at (24.6, 6.8). A pedestrian with ID 24 is 27.5 meters away at (21.5, -17.2). A unknown object with ID 17 is 30.2 meters away at (-14.8, 26.4). A vehicle with ID 25 is 34.6 meters away at (-20.3, 28.0). A unknown object with ID 29 is 36.7 meters away at (34.4, -12.7). A vehicle with ID 30 is 40.5 meters away at (-24.9, 31.9). A vehicle with ID 33 is 47.3 meters away at (-30.2, 36.4).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 3.6246898 -3.2665598] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [2.8854105 3.3825989] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.926428 -9.092986] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.5022872 0.7053201] m/s.The unknown object with ID 17 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 29 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.7) m/s. Its current heading (yaw) is -0.85 radians with an angular velocity of -0.85 rad/s.

The most relevant actors are: A vehicle with ID 9 is 10.7 meters away at (6.1, -8.8). A vehicle with ID 15 is 14.1 meters away at (-10.0, 9.9). A vehicle with ID 19 is 18.9 meters away at (18.5, -4.1). A pedestrian with ID 24 is 23.6 meters away at (20.0, -12.6). A vehicle with ID 18 is 25.6 meters away at (-20.5, 15.3). A unknown object with ID 29 is 33.1 meters away at (31.6, -9.9). A unknown object with ID 17 is 34.1 meters away at (-17.6, 29.2). A vehicle with ID 25 is 38.5 meters away at (-23.1, 30.8). A vehicle with ID 30 is 44.4 meters away at (-27.7, 34.7). A vehicle with ID 3 is 44.9 meters away at (-24.0, -37.9).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.6801786 -9.506118 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.456041  -2.2678626] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [3.5846174 4.138266 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [1.0735196 0.8362576] m/s.The vehicle with ID 18 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


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

The most relevant actors are: A vehicle with ID 15 is 9.0 meters away at (-6.3, 6.5). A pedestrian with ID 24 is 24.0 meters away at (21.6, -10.5). A vehicle with ID 18 is 26.1 meters away at (-20.9, 15.6). A vehicle with ID 19 is 27.0 meters away at (26.4, 5.7). A vehicle with ID 23 is 27.1 meters away at (-2.1, -27.0). A vehicle with ID 9 is 28.8 meters away at (-9.0, -27.3). A unknown object with ID 29 is 32.7 meters away at (31.2, -9.7). A unknown object with ID 17 is 34.5 meters away at (-17.8, 29.5). A vehicle with ID 25 is 39.0 meters away at (-23.5, 31.2). A vehicle with ID 30 is 44.9 meters away at (-28.0, 35.0).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 1.4452745 -1.3648211] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.896202  0.9560735] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.1815877 4.8449955] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [7.5448174 8.678943 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.1177197 -9.164986 ] 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


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

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-5.0, 5.3). A vehicle with ID 23 is 16.0 meters away at (12.3, -10.3). A pedestrian with ID 24 is 24.9 meters away at (23.4, -8.5). A vehicle with ID 18 is 26.1 meters away at (-20.9, 15.7). A unknown object with ID 29 is 32.7 meters away at (31.2, -9.6). A vehicle with ID 19 is 38.5 meters away at (35.1, 15.9). A vehicle with ID 25 is 39.0 meters away at (-23.5, 31.2). A vehicle with ID 16 is 40.1 meters away at (-11.6, -38.4). A vehicle with ID 30 is 44.8 meters away at (-28.0, 35.0). A vehicle with ID 9 is 49.9 meters away at (-22.6, -44.5).

The vehicle with ID 15 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 [6.6569242 7.7957535] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.96676767 0.85641664] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [4.809637  5.6190834] m/s.The vehicle with ID 25 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 [7.171964 8.319557] m/s.The vehicle with ID 30 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 [-6.10861  -7.578073] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 2.3) m/s. Its current heading (yaw) is 2.83 radians with an angular velocity of 2.83 rad/s.

The most relevant actors are: A vehicle with ID 81 is 4.9 meters away at (-1.4, 4.7). A vehicle with ID 71 is 5.1 meters away at (4.1, 3.1). A vehicle with ID 69 is 9.1 meters away at (-6.8, 6.0). A vehicle with ID 82 is 10.8 meters away at (-4.5, -9.8). A vehicle with ID 79 is 11.8 meters away at (7.8, -8.9). A vehicle with ID 80 is 12.0 meters away at (2.0, -11.9). A pedestrian with ID 83 is 12.6 meters away at (-7.0, 10.5). A pedestrian with ID 37 is 12.8 meters away at (-8.0, 9.9). A unknown object with ID 85 is 14.0 meters away at (-11.6, -7.7). A unknown object with ID 86 is 14.3 meters away at (-12.9, -6.2).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [ 1.1518228  -0.18378808] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2402225   0.43397567] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.2216015   0.45786363] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 2.2) m/s. Its current heading (yaw) is 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 43 is 3.8 meters away at (1.2, 3.7). A vehicle with ID 41 is 6.9 meters away at (-4.5, 5.2). A vehicle with ID 69 is 7.5 meters away at (7.2, 1.9). A pedestrian with ID 37 is 7.6 meters away at (3.8, 6.6). A pedestrian with ID 83 is 8.3 meters away at (4.7, 6.8). A unknown object with ID 77 is 9.6 meters away at (-1.9, -9.4). A unknown object with ID 86 is 10.4 meters away at (1.3, -10.3). A vehicle with ID 99 is 10.6 meters away at (6.5, -8.3). A unknown object with ID 85 is 12.1 meters away at (2.5, -11.8). A vehicle with ID 81 is 12.6 meters away at (12.6, 0.6).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 [-1.1695546   0.41668174] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2132591   0.40645176] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [ 3.4109073 -0.8903646] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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, 2.2) m/s. Its current heading (yaw) is 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 42 is 4.2 meters away at (3.0, 3.0). A vehicle with ID 41 is 9.3 meters away at (9.3, 1.1). A vehicle with ID 74 is 10.4 meters away at (-0.5, -10.4). A vehicle with ID 72 is 11.8 meters away at (-8.5, -8.2). A unknown object with ID 62 is 12.7 meters away at (3.8, -12.1). A unknown object with ID 63 is 12.9 meters away at (5.7, -11.5). A vehicle with ID 43 is 15.2 meters away at (15.2, -0.5). A pedestrian with ID 96 is 15.3 meters away at (4.1, -14.8). A unknown object with ID 57 is 15.3 meters away at (8.8, -12.5). A pedestrian with ID 37 is 15.8 meters away at (15.4, 3.3).

The vehicle with ID 42 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 96 is traveling at a (x, y) velocity of [0.03036734 0.06168066] m/s.The unknown object with ID 57 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 [-1.1491014  0.4488998] 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, 1.8) m/s. Its current heading (yaw) is 2.89 radians with an angular velocity of 2.89 rad/s.

The most relevant actors are: A pedestrian with ID 20 is 9.8 meters away at (-3.0, 9.3). A vehicle with ID 73 is 9.8 meters away at (-4.6, -8.7). A pedestrian with ID 17 is 10.0 meters away at (-4.1, 9.1). A pedestrian with ID 47 is 10.7 meters away at (-3.7, 10.0). A unknown object with ID 45 is 12.8 meters away at (2.3, -12.6). A vehicle with ID 72 is 13.0 meters away at (5.3, -11.9). A vehicle with ID 75 is 13.0 meters away at (-11.3, -6.5). A vehicle with ID 35 is 14.4 meters away at (11.2, -9.0). A vehicle with ID 70 is 15.3 meters away at (-13.0, 8.2). A vehicle with ID 32 is 16.9 meters away at (-16.9, -0.3).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00053096  0.02666947] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.00110543 0.01458896] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.01037394 0.02378936] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 8.027786  -2.2371993] m/s.The vehicle with ID 70 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 [ 9.509097  -2.7570689] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -3.2) 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 7.7 meters away at (0.4, -7.7). A pedestrian with ID 4 is 9.1 meters away at (-2.3, 8.8). A pedestrian with ID 27 is 13.0 meters away at (-13.0, -0.7). A pedestrian with ID 29 is 41.0 meters away at (40.6, 5.7). A unknown object with ID 32 is 47.5 meters away at (41.3, 23.4). A pedestrian with ID 33 is 53.6 meters away at (-23.5, 48.1). A cyclist with ID 20 is 53.6 meters away at (-23.5, 48.2). A unknown object with ID 31 is 53.8 meters away at (-50.7, 18.1). A pedestrian with ID 34 is 54.2 meters away at (-24.7, 48.2). A vehicle with ID 1 is 68.4 meters away at (54.8, -41.0).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.06689365 -0.0422409 ] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.2874659  -0.78289294] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00054107 -0.0001107 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.42565623 0.08974003] m/s.The unknown object with ID 32 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 [1.8620701 2.0753417] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [2.0493615 2.089202 ] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [1.6997149 2.1792362] m/s.The vehicle with ID 1 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 (5.4, -3.1) m/s. Its current heading (yaw) is -0.52 radians with an angular velocity of -0.52 rad/s.

The most relevant actors are: A pedestrian with ID 4 is 17.6 meters away at (-11.1, 13.7). A pedestrian with ID 29 is 32.6 meters away at (30.3, 11.9). A unknown object with ID 12 is 41.4 meters away at (2.3, 41.3). A unknown object with ID 32 is 42.2 meters away at (29.9, 29.8). A vehicle with ID 1 is 55.5 meters away at (43.3, -34.7). A unknown object with ID 31 is 66.6 meters away at (-61.9, 24.6). A pedestrian with ID 33 is 67.3 meters away at (-31.4, 59.5). A cyclist with ID 20 is 67.6 meters away at (-31.2, 60.0). A pedestrian with ID 34 is 67.9 meters away at (-32.8, 59.5). A vehicle with ID 10 is 76.5 meters away at (76.4, 3.0).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.3148408 -0.7279132] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.634002   -0.01570476] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 31 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 [1.4372475 2.594776 ] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [1.6072812 3.0758543] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.7504948 2.6535459] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -2.1) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A pedestrian with ID 4 is 24.8 meters away at (-17.5, 17.6). A pedestrian with ID 29 is 28.3 meters away at (22.6, 17.0). A unknown object with ID 17 is 38.4 meters away at (26.8, 27.5). A unknown object with ID 32 is 40.7 meters away at (20.9, 34.9). A vehicle with ID 1 is 45.1 meters away at (34.2, -29.4). A unknown object with ID 21 is 60.4 meters away at (-43.0, 42.4). A vehicle with ID 10 is 67.9 meters away at (67.3, 8.3). A vehicle with ID 5 is 69.8 meters away at (69.5, 5.9).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.47769   -0.6760199] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.86261064 -0.20413043] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.8) m/s. Its current heading (yaw) is -0.56 radians with an angular velocity of -0.56 rad/s.

The most relevant actors are: A pedestrian with ID 29 is 27.4 meters away at (19.1, 19.6). A pedestrian with ID 4 is 27.5 meters away at (-19.7, 19.2). A vehicle with ID 2 is 34.4 meters away at (3.2, -34.3). A unknown object with ID 17 is 37.4 meters away at (22.0, 30.3). A vehicle with ID 1 is 39.5 meters away at (29.2, -26.6). A unknown object with ID 32 is 41.1 meters away at (16.0, 37.8). A vehicle with ID 3 is 41.5 meters away at (12.3, -39.7). A vehicle with ID 10 is 63.4 meters away at (62.4, 11.2). A vehicle with ID 5 is 65.3 meters away at (64.7, 8.9). A unknown object with ID 21 is 65.8 meters away at (-47.8, 45.3).

The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.51946044 -0.44559902] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 1.2841992  -0.67130876] m/s.The vehicle with ID 2 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -1.5) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -1.3) 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 3 is 75.4 meters away at (-8.8, -74.9).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0.01344773 1.1045232 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.5) m/s. Its current heading (yaw) is -2.43 radians with an angular velocity of -2.43 rad/s.

The most relevant actors are: A vehicle with ID 4 is 69.6 meters away at (-6.8, -69.3).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.05278894  2.3041043 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -1.2) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A unknown object with ID 2 is 30.7 meters away at (15.2, -26.7). A pedestrian with ID 5 is 61.0 meters away at (3.3, -60.9). A vehicle with ID 4 is 63.3 meters away at (-5.3, -63.1).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01168492 -0.00150718] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.03138726  2.356087  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 5.0) m/s. Its current heading (yaw) is 1.56 radians with an angular velocity of 1.56 rad/s.

The most relevant actors are: A unknown object with ID 110 is 13.0 meters away at (-10.0, 8.3). A vehicle with ID 109 is 14.0 meters away at (-12.6, -5.9). A vehicle with ID 108 is 15.4 meters away at (-12.3, -9.3). A vehicle with ID 111 is 17.7 meters away at (-17.3, 4.1). A vehicle with ID 112 is 20.3 meters away at (-19.9, 3.7). A vehicle with ID 119 is 21.2 meters away at (18.4, 10.7). A vehicle with ID 115 is 22.9 meters away at (-22.6, 3.7). A vehicle with ID 122 is 24.8 meters away at (22.5, 10.4). A pedestrian with ID 41 is 27.2 meters away at (6.9, 26.3). A vehicle with ID 113 is 27.6 meters away at (-26.1, -8.9).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 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 [1.4273766  0.02313673] m/s.The vehicle with ID 113 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 (0.2, 1.7) m/s. Its current heading (yaw) is 1.43 radians with an angular velocity of 1.43 rad/s.

The most relevant actors are: A unknown object with ID 110 is 10.6 meters away at (-10.5, 1.6). A vehicle with ID 111 is 17.9 meters away at (-17.7, -2.7). A vehicle with ID 109 is 18.3 meters away at (-13.1, -12.7). A vehicle with ID 119 is 18.3 meters away at (17.9, 4.0). A vehicle with ID 108 is 20.5 meters away at (-12.7, -16.1). A vehicle with ID 112 is 20.6 meters away at (-20.4, -2.7). A pedestrian with ID 41 is 21.7 meters away at (9.5, 19.5). A pedestrian with ID 106 is 22.3 meters away at (9.4, 20.3). A vehicle with ID 122 is 22.5 meters away at (22.2, 3.7). A vehicle with ID 115 is 23.2 meters away at (-23.0, -3.0).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 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 [1.6474048 0.0328714] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [1.6301265  0.05745342] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 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 1.41 radians with an angular velocity of 1.41 rad/s.

The most relevant actors are: A unknown object with ID 110 is 10.7 meters away at (-10.7, 0.3). A vehicle with ID 119 is 17.8 meters away at (17.7, 2.6). A vehicle with ID 111 is 18.4 meters away at (-18.0, -4.0). A vehicle with ID 109 is 19.4 meters away at (-13.4, -14.0). A vehicle with ID 112 is 21.1 meters away at (-20.7, -4.1). A vehicle with ID 108 is 21.7 meters away at (-12.9, -17.4). A cyclist with ID 77 is 21.7 meters away at (21.7, 0.6). A pedestrian with ID 41 is 22.0 meters away at (12.4, 18.1). A pedestrian with ID 106 is 22.6 meters away at (12.4, 18.9). A vehicle with ID 115 is 23.6 meters away at (-23.2, -4.1).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [6.6696124e-08 5.1521035e-08] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 1.431318   -0.20327257] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [ 1.4625846  -0.20450899] m/s.The vehicle with ID 115 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 (0.9, 2.2) m/s. Its current heading (yaw) is 1.20 radians with an angular velocity of 1.20 rad/s.

The most relevant actors are: A unknown object with ID 110 is 11.3 meters away at (-11.2, -1.8). A vehicle with ID 119 is 17.2 meters away at (17.2, 0.7). A vehicle with ID 111 is 19.4 meters away at (-18.4, -6.1). A vehicle with ID 109 is 21.2 meters away at (-13.8, -16.1). A vehicle with ID 112 is 21.9 meters away at (-21.1, -6.0). A pedestrian with ID 41 is 22.0 meters away at (14.9, 16.1). A pedestrian with ID 106 is 22.6 meters away at (14.9, 17.0). A vehicle with ID 108 is 23.6 meters away at (-13.3, -19.5). A vehicle with ID 115 is 24.4 meters away at (-23.7, -5.9). A pedestrian with ID 75 is 25.5 meters away at (15.0, 20.6).

The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 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 [ 1.537825   -0.01370674] m/s.The pedestrian with ID 106 is traveling at a (x, y) velocity of [1.5397905  0.05269894] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00187958  0.00520884] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.5) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 47 is 3.6 meters away at (-2.5, 2.6). A vehicle with ID 48 is 6.2 meters away at (-6.0, -1.8). A vehicle with ID 46 is 11.7 meters away at (4.3, 10.9). A vehicle with ID 17 is 17.1 meters away at (7.8, 15.2). A vehicle with ID 53 is 21.9 meters away at (-21.6, -3.4). A vehicle with ID 55 is 22.2 meters away at (1.5, -22.1). A vehicle with ID 54 is 23.7 meters away at (-20.3, -12.3). A vehicle with ID 68 is 27.3 meters away at (-7.5, -26.3). A vehicle with ID 56 is 27.8 meters away at (-25.1, -11.9). A vehicle with ID 59 is 29.9 meters away at (-3.2, -29.8).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [ 2.2016926 -1.7725241] m/s.The vehicle with ID 68 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.2) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 46 is 3.6 meters away at (-2.8, 2.3). A vehicle with ID 17 is 6.5 meters away at (0.7, 6.4). A vehicle with ID 47 is 11.4 meters away at (-9.6, -6.2). A vehicle with ID 48 is 16.8 meters away at (-13.1, -10.6). A vehicle with ID 49 is 22.5 meters away at (5.5, 21.8). A pedestrian with ID 15 is 24.0 meters away at (9.9, 21.9). A pedestrian with ID 16 is 24.2 meters away at (9.3, 22.4). A pedestrian with ID 2 is 25.1 meters away at (9.9, 23.0). A vehicle with ID 7 is 26.7 meters away at (-0.4, 26.7). A vehicle with ID 9 is 28.4 meters away at (-2.3, 28.3).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.93093216 1.049685  ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.90917826 1.0398208 ] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8803931 1.0421779] m/s.The vehicle with ID 7 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 17 is 6.2 meters away at (-5.9, -1.8). A vehicle with ID 46 is 11.2 meters away at (-9.5, -6.1). A vehicle with ID 49 is 13.6 meters away at (-1.2, 13.5). A pedestrian with ID 15 is 16.6 meters away at (5.1, 15.8). A pedestrian with ID 16 is 16.9 meters away at (4.4, 16.3). A pedestrian with ID 2 is 17.6 meters away at (5.1, 16.9). A vehicle with ID 7 is 19.7 meters away at (-7.1, 18.3). A vehicle with ID 47 is 21.9 meters away at (-16.3, -14.6). A vehicle with ID 9 is 22.0 meters away at (-9.1, 20.1). A vehicle with ID 10 is 24.8 meters away at (-11.2, 22.1).

The vehicle with ID 17 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 49 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 [1.0488818 1.0148557] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.0112945 1.0262809] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.9856311  0.98728687] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 3.5) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 49 is 9.4 meters away at (-7.5, 5.7). A pedestrian with ID 15 is 10.3 meters away at (0.6, 10.3). A pedestrian with ID 16 is 10.8 meters away at (0.0, 10.8). A pedestrian with ID 2 is 11.4 meters away at (0.6, 11.4). A unknown object with ID 22 is 12.9 meters away at (0.8, 12.8). A unknown object with ID 38 is 13.1 meters away at (1.0, 13.0). A vehicle with ID 17 is 15.4 meters away at (-12.1, -9.5). A vehicle with ID 7 is 17.1 meters away at (-13.3, 10.6). A vehicle with ID 51 is 17.2 meters away at (-1.9, 17.0). A vehicle with ID 52 is 19.2 meters away at (-4.1, 18.7).

The vehicle with ID 49 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 [0.8616579 1.170123 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.8977143 1.1381873] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.8797501 1.1194788] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 7.1) m/s. Its current heading (yaw) is 1.20 radians with an angular velocity of 1.20 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 8.8 meters away at (4.4, -7.6). A vehicle with ID 9 is 16.5 meters away at (9.6, -13.5). A unknown object with ID 2 is 24.6 meters away at (0.6, -24.6). A vehicle with ID 8 is 24.8 meters away at (0.6, 24.7). A vehicle with ID 13 is 27.2 meters away at (-8.5, -25.9). A unknown object with ID 5 is 28.8 meters away at (-18.8, -21.8). A vehicle with ID 14 is 29.3 meters away at (23.2, -18.0). A vehicle with ID 16 is 36.5 meters away at (32.6, -16.5). A vehicle with ID 12 is 40.1 meters away at (29.8, -26.9). A pedestrian with ID 22 is 41.6 meters away at (-40.2, 10.7).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5931579 -1.129502 ] m/s.The vehicle with ID 9 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 8 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 [1.1317625 6.474386 ] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.501837   0.8740459] m/s.The vehicle with ID 16 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 [ 6.5643616 -1.9177008] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 1.668123   -0.40375566] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 4.5) m/s. Its current heading (yaw) is 1.03 radians with an angular velocity of 1.03 rad/s.

The most relevant actors are: A vehicle with ID 8 is 14.0 meters away at (-4.9, 13.1). A pedestrian with ID 11 is 22.2 meters away at (-2.5, -22.0). A vehicle with ID 9 is 25.5 meters away at (3.9, -25.2). A vehicle with ID 13 is 28.9 meters away at (-16.4, -23.8). A vehicle with ID 42 is 45.9 meters away at (5.3, 45.6). A vehicle with ID 39 is 47.2 meters away at (-43.9, -17.4). A vehicle with ID 38 is 60.2 meters away at (-25.4, -54.6). A vehicle with ID 47 is 65.8 meters away at (-27.0, -60.1). A vehicle with ID 10 is 79.3 meters away at (-28.5, -74.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.56148934 -1.3740495 ] m/s.The vehicle with ID 9 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 [-3.6228008  6.4824824] m/s.The vehicle with ID 42 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 [ 5.0690255 -1.6052959] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.3457377 -7.6877003] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, 2.6) m/s. Its current heading (yaw) is 1.23 radians with an angular velocity of 1.23 rad/s.

The most relevant actors are: A vehicle with ID 8 is 10.0 meters away at (-8.1, 5.9). A vehicle with ID 1 is 15.1 meters away at (12.9, 7.9). A pedestrian with ID 11 is 32.8 meters away at (-7.0, -32.1). A vehicle with ID 42 is 38.3 meters away at (2.1, 38.3). A vehicle with ID 6 is 47.0 meters away at (-38.1, -27.5). A vehicle with ID 39 is 47.4 meters away at (-38.7, -27.4). A vehicle with ID 38 is 68.2 meters away at (-28.8, -61.9). A vehicle with ID 47 is 73.8 meters away at (-30.3, -67.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.46448174 -1.3305396 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 3.2006726 -0.9638014] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 2.6870174 -0.9103917] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A vehicle with ID 8 is 9.6 meters away at (-9.0, 3.5). A vehicle with ID 1 is 12.9 meters away at (11.7, 5.4). A vehicle with ID 42 is 35.8 meters away at (1.3, 35.8). A pedestrian with ID 11 is 38.2 meters away at (-8.6, -37.2). A vehicle with ID 6 is 46.3 meters away at (-34.0, -31.4). A vehicle with ID 39 is 47.9 meters away at (-36.9, -30.5). A vehicle with ID 38 is 70.7 meters away at (-29.7, -64.1). A vehicle with ID 47 is 76.3 meters away at (-31.2, -69.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.514391  -1.3429317] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.5963405 -0.5366403] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, 4.3) m/s. Its current heading (yaw) is 0.81 radians with an angular velocity of 0.81 rad/s.

The most relevant actors are: A unknown object with ID 18 is 19.5 meters away at (18.8, -5.2). A unknown object with ID 19 is 19.9 meters away at (19.6, -3.8). A unknown object with ID 20 is 20.3 meters away at (20.0, -3.3). A unknown object with ID 21 is 21.0 meters away at (21.0, -1.6). A unknown object with ID 22 is 22.5 meters away at (22.5, -0.4). A unknown object with ID 15 is 26.3 meters away at (14.1, 22.3). A unknown object with ID 16 is 26.5 meters away at (13.4, 22.8). A unknown object with ID 8 is 27.3 meters away at (13.7, 23.6). A unknown object with ID 2 is 27.3 meters away at (14.7, 23.0). A unknown object with ID 17 is 42.4 meters away at (37.9, 19.0).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.5) m/s. Its current heading (yaw) is 0.81 radians with an angular velocity of 0.81 rad/s.

The most relevant actors are: A unknown object with ID 15 is 14.3 meters away at (5.3, 13.3). A unknown object with ID 16 is 14.6 meters away at (4.7, 13.8). A unknown object with ID 2 is 15.2 meters away at (5.9, 14.1). A unknown object with ID 8 is 15.4 meters away at (5.1, 14.5). A unknown object with ID 21 is 16.2 meters away at (12.3, -10.5). A unknown object with ID 22 is 16.6 meters away at (13.8, -9.4). A unknown object with ID 20 is 16.7 meters away at (11.3, -12.3). A unknown object with ID 10 is 17.4 meters away at (10.1, -14.1). A unknown object with ID 18 is 17.5 meters away at (10.1, -14.3). A unknown object with ID 12 is 29.4 meters away at (28.5, 7.4).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 18 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.0) m/s. Its current heading (yaw) is 0.81 radians with an angular velocity of 0.81 rad/s.

The most relevant actors are: A unknown object with ID 15 is 5.5 meters away at (-2.8, 4.8). A unknown object with ID 2 is 6.0 meters away at (-2.2, 5.6). A unknown object with ID 16 is 6.4 meters away at (-3.5, 5.4). A unknown object with ID 8 is 6.8 meters away at (-3.1, 6.0). A unknown object with ID 22 is 18.7 meters away at (5.6, -17.8). A unknown object with ID 21 is 19.4 meters away at (4.1, -19.0). A unknown object with ID 12 is 20.3 meters away at (20.3, -1.1). A unknown object with ID 20 is 21.0 meters away at (3.2, -20.7). A unknown object with ID 17 is 21.0 meters away at (20.9, 1.6). A unknown object with ID 18 is 22.8 meters away at (1.7, -22.7).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A unknown object with ID 2 is 9.8 meters away at (-9.5, -2.5). A unknown object with ID 8 is 10.5 meters away at (-10.3, -2.0). A unknown object with ID 15 is 10.6 meters away at (-10.1, -3.2). A unknown object with ID 16 is 10.9 meters away at (-10.6, -2.7). A unknown object with ID 17 is 15.1 meters away at (13.7, -6.5). A unknown object with ID 12 is 15.9 meters away at (13.0, -9.1). A unknown object with ID 14 is 16.1 meters away at (15.1, -5.8). A unknown object with ID 22 is 25.9 meters away at (-1.6, -25.9). A unknown object with ID 21 is 27.2 meters away at (-3.2, -27.0). A unknown object with ID 18 is 31.3 meters away at (-5.5, -30.8).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.8) m/s. Its current heading (yaw) is -1.49 radians with an angular velocity of -1.49 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 22.4 meters away at (-9.1, 20.5). A vehicle with ID 14 is 32.7 meters away at (-5.3, 32.3). A vehicle with ID 16 is 68.3 meters away at (-1.1, 68.3). A vehicle with ID 18 is 68.7 meters away at (-2.7, -68.7). A vehicle with ID 3 is 75.2 meters away at (-2.7, -75.2).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.02395691 -1.5195266 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.50 radians with an angular velocity of -1.50 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 20.1 meters away at (-9.2, 17.8). A vehicle with ID 14 is 33.1 meters away at (-5.4, 32.7). A vehicle with ID 18 is 68.3 meters away at (-2.8, -68.3). A vehicle with ID 16 is 68.8 meters away at (-1.2, 68.8). A vehicle with ID 3 is 74.7 meters away at (-2.8, -74.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.01599211 -1.4527789 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [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 (0.2, -1.7) m/s. Its current heading (yaw) is -1.48 radians with an angular velocity of -1.48 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 18.6 meters away at (-9.4, 16.1). A vehicle with ID 14 is 34.3 meters away at (-5.4, 33.9). A pedestrian with ID 1 is 61.4 meters away at (-60.7, 9.6). A vehicle with ID 18 is 67.1 meters away at (-2.9, -67.0). A vehicle with ID 16 is 70.0 meters away at (-1.2, 69.9). A vehicle with ID 3 is 73.7 meters away at (-2.8, -73.6). A cyclist with ID 2 is 75.8 meters away at (67.3, -34.8). A vehicle with ID 10 is 76.3 meters away at (-2.3, 76.2).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.09642288 -1.4378337 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.3001189   0.00197255] m/s.The vehicle with ID 18 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-3.0667233  7.658166 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-0.6478089 -0.9764791] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.3) m/s. Its current heading (yaw) is -1.02 radians with an angular velocity of -1.02 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 21.8 meters away at (-11.0, 18.8). A vehicle with ID 14 is 40.3 meters away at (-7.2, 39.6). A vehicle with ID 18 is 61.5 meters away at (-4.7, -61.3). A pedestrian with ID 1 is 66.4 meters away at (-64.6, 15.6). A vehicle with ID 3 is 68.1 meters away at (-4.7, -67.9). A vehicle with ID 16 is 75.7 meters away at (-2.7, 75.6). A vehicle with ID 10 is 78.2 meters away at (-5.9, 78.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.07776041 -1.5208039 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.0952804   0.10518981] m/s.The vehicle with ID 3 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 10 is traveling at a (x, y) velocity of [-0.89738727 -3.3003256 ] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 15 is 7.4 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.4 meters away at (-3.1, -10.0). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A pedestrian with ID 36 is 11.4 meters away at (10.9, 3.1). A unknown object with ID 12 is 11.4 meters away at (-7.6, -8.5). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A pedestrian with ID 28 is 13.7 meters away at (13.0, 4.2).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 [ 1.1410795 -0.7743207] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0997573  0.3924896] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A vehicle with ID 37 is 10.5 meters away at (5.9, -8.7). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A pedestrian with ID 28 is 11.9 meters away at (10.7, 5.3). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A pedestrian with ID 36 is 13.8 meters away at (13.6, 1.9).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [12.263661  -4.0914354] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.1266246   0.55887145] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3675961  -0.57125247] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A pedestrian with ID 28 is 10.6 meters away at (8.4, 6.5). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A vehicle with ID 29 is 14.4 meters away at (13.8, -4.3). A vehicle with ID 49 is 15.0 meters away at (-14.9, -1.6).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.0969017  0.5989843] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [10.309537  -3.4366724] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 15 is 7.3 meters away at (-6.8, 2.7). A vehicle with ID 16 is 8.0 meters away at (7.6, -2.3). A vehicle with ID 17 is 8.7 meters away at (8.6, 1.5). A pedestrian with ID 28 is 9.8 meters away at (6.1, 7.6). A vehicle with ID 20 is 10.5 meters away at (-3.0, -10.0). A vehicle with ID 49 is 11.1 meters away at (6.7, -8.8). A unknown object with ID 21 is 11.2 meters away at (-8.8, -6.9). A vehicle with ID 26 is 12.7 meters away at (3.5, -12.2). A unknown object with ID 27 is 13.3 meters away at (-11.9, -5.9). A vehicle with ID 29 is 14.4 meters away at (13.8, -4.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.2543912   0.65299207] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [11.025119  -3.6898985] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -2.3) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A vehicle with ID 64 is 3.6 meters away at (-0.4, 3.6). A vehicle with ID 62 is 12.2 meters away at (-3.0, -11.8). A vehicle with ID 59 is 14.7 meters away at (12.5, -7.8). A vehicle with ID 60 is 17.8 meters away at (17.7, 1.0). A vehicle with ID 63 is 19.3 meters away at (-5.2, -18.5). A vehicle with ID 65 is 25.5 meters away at (-7.0, -24.5). A vehicle with ID 36 is 27.7 meters away at (25.2, -11.5). A vehicle with ID 61 is 29.6 meters away at (29.5, -2.6). A vehicle with ID 67 is 56.9 meters away at (-52.1, 22.8). A vehicle with ID 68 is 66.3 meters away at (-61.0, 25.9).

The vehicle with ID 64 is traveling at a (x, y) velocity of [-7.4692535  2.164351 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.2) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 59 is 3.8 meters away at (-0.7, -3.7). A vehicle with ID 60 is 6.7 meters away at (4.4, 5.1). A vehicle with ID 36 is 14.0 meters away at (11.9, -7.4). A vehicle with ID 61 is 16.2 meters away at (16.2, 1.5). A vehicle with ID 62 is 18.0 meters away at (-16.3, -7.6). A vehicle with ID 64 is 31.3 meters away at (-28.9, 12.1). A vehicle with ID 2 is 64.4 meters away at (60.3, -22.8). A vehicle with ID 1 is 69.9 meters away at (65.5, -24.5). A vehicle with ID 67 is 70.8 meters away at (-65.4, 27.1). A pedestrian with ID 7 is 72.2 meters away at (66.3, -28.6).

The vehicle 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.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [-7.5265365  1.9969158] m/s.The vehicle with ID 2 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 67 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 [ 1.1393197 -0.4412714] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -1.8) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 36 is 3.7 meters away at (0.1, -3.7). A vehicle with ID 61 is 6.7 meters away at (4.2, 5.2). A vehicle with ID 60 is 11.4 meters away at (-7.3, 8.7). A vehicle with ID 59 is 12.6 meters away at (-12.6, -0.0). A vehicle with ID 21 is 26.0 meters away at (12.6, -22.8). A vehicle with ID 19 is 36.2 meters away at (18.8, -31.0). A unknown object with ID 44 is 36.8 meters away at (35.7, 8.8). A unknown object with ID 5 is 46.4 meters away at (46.3, 2.1). A vehicle with ID 2 is 52.0 meters away at (48.3, -19.1). A vehicle with ID 1 is 57.4 meters away at (53.6, -20.5).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, -1.0) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (-8.1, -1.1). A vehicle with ID 61 is 8.8 meters away at (-4.0, 7.9). A vehicle with ID 60 is 19.3 meters away at (-15.6, 11.4). A vehicle with ID 21 is 20.4 meters away at (4.4, -19.9). A vehicle with ID 59 is 21.0 meters away at (-20.9, 2.6). A vehicle with ID 19 is 30.1 meters away at (10.6, -28.2). A unknown object with ID 5 is 38.4 meters away at (38.1, 4.8). A vehicle with ID 43 is 43.1 meters away at (-1.4, -43.0). A vehicle with ID 2 is 43.3 meters away at (40.1, -16.4). A vehicle with ID 1 is 48.6 meters away at (45.2, -17.9).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -4.8) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 24 is 32.5 meters away at (-13.8, 29.5). A vehicle with ID 26 is 41.7 meters away at (-21.6, 35.6). A vehicle with ID 25 is 51.0 meters away at (47.5, -18.6). A vehicle with ID 28 is 61.9 meters away at (-38.7, 48.3). A vehicle with ID 27 is 64.7 meters away at (58.9, -26.9).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -6.3) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 24 is 41.6 meters away at (-6.8, 41.0). A vehicle with ID 26 is 49.3 meters away at (-14.6, 47.1). A vehicle with ID 25 is 55.2 meters away at (54.8, -6.8). A vehicle with ID 27 is 67.6 meters away at (65.9, -15.1). A vehicle with ID 28 is 67.6 meters away at (-31.6, 59.8).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -6.8) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 24 is 54.5 meters away at (0.6, 54.5). A vehicle with ID 26 is 61.0 meters away at (-7.2, 60.6). A vehicle with ID 25 is 62.7 meters away at (62.3, 6.8). A unknown object with ID 2 is 66.1 meters away at (-35.1, -56.0). A pedestrian with ID 10 is 71.9 meters away at (13.4, -70.6). A vehicle with ID 27 is 73.4 meters away at (73.4, -1.0). A vehicle with ID 28 is 76.8 meters away at (-24.2, 72.9).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.8333002 -1.6051509] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -6.2) m/s. Its current heading (yaw) is -2.14 radians with an angular velocity of -2.14 rad/s.

The most relevant actors are: A unknown object with ID 2 is 50.8 meters away at (-27.1, -43.0). A pedestrian with ID 10 is 65.6 meters away at (25.0, -60.7). A unknown object with ID 18 is 66.6 meters away at (-36.5, -55.7). A vehicle with ID 24 is 68.1 meters away at (8.5, 67.6). A vehicle with ID 26 is 73.5 meters away at (0.9, 73.5).

The unknown object with ID 2 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 [ 1.497793  -1.4306506] 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 [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -6.6) 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 pedestrian with ID 41 is 11.4 meters away at (-11.4, 0.7). A pedestrian with ID 43 is 11.8 meters away at (-11.8, 0.2). A vehicle with ID 44 is 16.4 meters away at (-3.4, 16.1). A pedestrian with ID 57 is 23.2 meters away at (22.4, 6.0). A vehicle with ID 40 is 25.5 meters away at (-10.5, 23.3). A vehicle with ID 42 is 34.0 meters away at (-16.4, 29.7). A pedestrian with ID 68 is 37.1 meters away at (37.0, -2.1). A vehicle with ID 45 is 37.3 meters away at (-14.9, 34.2). A vehicle with ID 46 is 41.1 meters away at (-21.2, 35.1). A vehicle with ID 48 is 44.0 meters away at (-19.9, 39.2).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.7915863  0.736412 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.80827624  0.755897  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.3569303  1.3129048] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 1.0675902 -0.814699 ] m/s.The vehicle with ID 40 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 pedestrian with ID 68 is traveling at a (x, y) velocity of [-0.8632319   0.69221973] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.