The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.2) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A unknown object with ID 35 is 4.0 meters away at (1.3, -3.8). A unknown object with ID 36 is 5.6 meters away at (5.4, 1.7). A vehicle with ID 39 is 7.8 meters away at (-7.6, -1.4). A vehicle with ID 41 is 7.8 meters away at (-0.3, 7.8). A vehicle with ID 46 is 8.4 meters away at (6.4, -5.5). A unknown object with ID 34 is 8.6 meters away at (-2.6, -8.2). A vehicle with ID 44 is 11.6 meters away at (10.6, 4.7). A vehicle with ID 42 is 12.0 meters away at (-10.9, -5.1). A unknown object with ID 37 is 13.4 meters away at (-5.7, -12.1). A unknown object with ID 21 is 14.3 meters away at (14.2, -2.0).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 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 (-1.8, -2.3) m/s. Its current heading (yaw) is -2.24 radians with an angular velocity of -2.24 rad/s.

The most relevant actors are: A unknown object with ID 34 is 3.9 meters away at (1.1, -3.7). A unknown object with ID 35 is 5.0 meters away at (4.9, 0.7). A vehicle with ID 39 is 5.0 meters away at (-3.9, 3.1). A vehicle with ID 42 is 7.2 meters away at (-7.2, -0.6). A unknown object with ID 37 is 7.9 meters away at (-2.0, -7.6). A vehicle with ID 46 is 10.1 meters away at (10.0, -1.0). A unknown object with ID 36 is 11.0 meters away at (9.1, 6.1). A vehicle with ID 43 is 11.1 meters away at (-10.2, -4.3). A vehicle with ID 41 is 12.8 meters away at (3.5, 12.3). A vehicle with ID 45 is 13.4 meters away at (-11.8, -6.4).

The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 71 is 7.8 meters away at (-2.9, 7.3). A vehicle with ID 69 is 8.1 meters away at (2.4, 7.8). A vehicle with ID 64 is 8.6 meters away at (5.2, 6.9). A vehicle with ID 73 is 9.3 meters away at (-5.7, 7.3). A vehicle with ID 78 is 11.2 meters away at (-8.7, 7.1). A vehicle with ID 62 is 12.8 meters away at (10.6, 7.1). A vehicle with ID 58 is 13.5 meters away at (-11.3, 7.5). A unknown object with ID 48 is 14.8 meters away at (-6.1, -13.5). A vehicle with ID 77 is 17.2 meters away at (-7.2, -15.6). A vehicle with ID 65 is 17.3 meters away at (16.1, 6.3).

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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 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 58 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 0.1) m/s. Its current heading (yaw) is 3.12 radians with an angular velocity of 3.12 rad/s.

The most relevant actors are: A vehicle with ID 58 is 6.8 meters away at (0.6, 6.8). A vehicle with ID 78 is 7.2 meters away at (3.1, 6.5). A vehicle with ID 57 is 8.4 meters away at (-4.6, 7.0). A vehicle with ID 73 is 9.0 meters away at (6.1, 6.7). A vehicle with ID 53 is 9.6 meters away at (-7.4, 6.1). A vehicle with ID 71 is 11.1 meters away at (8.9, 6.6). A vehicle with ID 54 is 12.3 meters away at (-10.4, 6.4). A vehicle with ID 80 is 14.1 meters away at (-1.2, -14.0). A vehicle with ID 26 is 14.6 meters away at (-12.9, 6.8). A vehicle with ID 81 is 14.9 meters away at (-7.0, -13.2).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 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 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 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 (-6.4, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A vehicle with ID 54 is 6.6 meters away at (1.9, 6.3). A vehicle with ID 26 is 6.9 meters away at (-0.5, 6.9). A vehicle with ID 53 is 7.8 meters away at (4.9, 6.1). A vehicle with ID 55 is 9.3 meters away at (-6.1, 6.9). A vehicle with ID 57 is 10.4 meters away at (7.7, 6.9). A vehicle with ID 50 is 13.3 meters away at (-11.5, 6.7). A vehicle with ID 84 is 13.4 meters away at (-0.2, -13.4). A vehicle with ID 82 is 13.8 meters away at (2.4, -13.5). A vehicle with ID 81 is 14.3 meters away at (5.4, -13.2). A vehicle with ID 58 is 14.6 meters away at (13.0, 6.8).

The vehicle with ID 54 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 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 57 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 84 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 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -0.1) m/s. Its current heading (yaw) is -3.13 radians with an angular velocity of -3.13 rad/s.

The most relevant actors are: A vehicle with ID 50 is 7.0 meters away at (1.8, 6.8). A pedestrian with ID 97 is 9.2 meters away at (-3.9, -8.3). A vehicle with ID 49 is 10.1 meters away at (-7.2, 7.0). A vehicle with ID 55 is 10.1 meters away at (7.2, 7.0). A vehicle with ID 56 is 13.1 meters away at (2.4, -12.9). A vehicle with ID 89 is 14.0 meters away at (5.0, -13.1). A vehicle with ID 26 is 14.6 meters away at (12.9, 6.9). A vehicle with ID 54 is 16.7 meters away at (15.4, 6.4). A vehicle with ID 2 is 17.7 meters away at (17.7, -0.4). A vehicle with ID 84 is 18.8 meters away at (13.3, -13.4).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [1.0856949  0.51247436] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 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 54 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 [-7.5856695   0.00977294] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 5.4) m/s. Its current heading (yaw) is 1.83 radians with an angular velocity of 1.83 rad/s.

The most relevant actors are: A vehicle with ID 55 is 14.0 meters away at (10.8, -8.9). A vehicle with ID 57 is 17.4 meters away at (17.1, 3.6). A vehicle with ID 54 is 18.1 meters away at (2.3, -17.9). A vehicle with ID 58 is 22.5 meters away at (22.0, 4.8). A vehicle with ID 56 is 25.0 meters away at (14.7, -20.2). A vehicle with ID 60 is 27.7 meters away at (9.7, 25.9). A vehicle with ID 61 is 28.2 meters away at (12.1, 25.5). A vehicle with ID 62 is 29.7 meters away at (14.4, 25.9). A vehicle with ID 63 is 30.7 meters away at (16.9, 25.6). A vehicle with ID 49 is 31.9 meters away at (19.3, 25.4).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 5.0) m/s. Its current heading (yaw) is 1.80 radians with an angular velocity of 1.80 rad/s.

The most relevant actors are: A vehicle with ID 60 is 19.7 meters away at (12.4, 15.3). A vehicle with ID 61 is 21.0 meters away at (14.7, 15.0). A vehicle with ID 57 is 21.1 meters away at (19.9, -6.8). A vehicle with ID 62 is 23.0 meters away at (17.1, 15.3). A vehicle with ID 55 is 23.7 meters away at (13.6, -19.5). A vehicle with ID 63 is 24.7 meters away at (19.5, 15.1). A vehicle with ID 58 is 25.5 meters away at (24.9, -5.5). A vehicle with ID 49 is 26.5 meters away at (21.9, 14.9). A vehicle with ID 15 is 28.5 meters away at (24.4, 14.7). A vehicle with ID 65 is 28.6 meters away at (6.4, 27.9).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 55 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 2.7) m/s. Its current heading (yaw) is 1.80 radians with an angular velocity of 1.80 rad/s.

The most relevant actors are: A vehicle with ID 60 is 16.2 meters away at (14.2, 7.8). A vehicle with ID 61 is 18.1 meters away at (16.5, 7.4). A vehicle with ID 62 is 20.4 meters away at (18.9, 7.8). A vehicle with ID 65 is 21.9 meters away at (8.2, 20.3). A vehicle with ID 63 is 22.6 meters away at (21.3, 7.5). A vehicle with ID 64 is 23.0 meters away at (11.4, 20.0). A vehicle with ID 49 is 24.9 meters away at (23.8, 7.3). A vehicle with ID 66 is 25.1 meters away at (14.8, 20.3). A vehicle with ID 57 is 26.1 meters away at (21.8, -14.5). A vehicle with ID 15 is 27.1 meters away at (26.2, 7.1).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.5) m/s. Its current heading (yaw) is 1.79 radians with an angular velocity of 1.79 rad/s.

The most relevant actors are: A vehicle with ID 60 is 15.7 meters away at (15.6, 2.0). A vehicle with ID 65 is 17.4 meters away at (9.6, 14.5). A vehicle with ID 61 is 18.0 meters away at (17.9, 1.8). A vehicle with ID 64 is 19.1 meters away at (12.8, 14.1). A vehicle with ID 66 is 21.8 meters away at (16.2, 14.6). A vehicle with ID 63 is 22.8 meters away at (22.8, 1.8). A vehicle with ID 49 is 25.2 meters away at (25.1, 1.6). A vehicle with ID 53 is 27.6 meters away at (2.2, 27.5). A vehicle with ID 15 is 27.6 meters away at (27.6, 1.4). A unknown object with ID 20 is 29.8 meters away at (-8.6, 28.5).

The vehicle with ID 60 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 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 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 (-2.6, 0.6) m/s. Its current heading (yaw) is 2.91 radians with an angular velocity of 2.91 rad/s.

The most relevant actors are: A pedestrian with ID 21 is 7.0 meters away at (0.8, 7.0). A pedestrian with ID 19 is 7.4 meters away at (-2.6, 6.9). A vehicle with ID 20 is 8.6 meters away at (8.0, -3.1). A vehicle with ID 24 is 24.4 meters away at (20.6, -13.1). A unknown object with ID 10 is 29.6 meters away at (16.1, -24.8). A unknown object with ID 25 is 29.9 meters away at (-29.8, 2.2). A unknown object with ID 26 is 41.1 meters away at (35.6, -20.6). A unknown object with ID 27 is 42.2 meters away at (41.0, -10.1). A pedestrian with ID 3 is 80.4 meters away at (33.1, 73.2).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03472945 -0.05932887] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01484176 0.03943157] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.75894433  0.28891462] m/s.The vehicle with ID 24 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 3 is traveling at a (x, y) velocity of [-0.9793929 -1.1744338] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 2.6) m/s. Its current heading (yaw) is 2.33 radians with an angular velocity of 2.33 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 5.3 meters away at (3.3, 4.1). A pedestrian with ID 21 is 8.0 meters away at (6.9, 4.1). A vehicle with ID 20 is 11.5 meters away at (10.5, -4.6). A unknown object with ID 25 is 23.8 meters away at (-23.8, -1.0). A unknown object with ID 16 is 29.0 meters away at (-28.9, -2.3). A vehicle with ID 24 is 31.1 meters away at (26.8, -15.8). A unknown object with ID 10 is 35.6 meters away at (22.6, -27.5). A unknown object with ID 27 is 48.9 meters away at (47.2, -12.6). A pedestrian with ID 3 is 78.0 meters away at (36.9, 68.7).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.2002313  0.018463 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.16687928  0.00800505] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-3.0141928  1.0157384] m/s.The unknown object with ID 25 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 24 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9703001 -1.0042334] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 3.9) m/s. Its current heading (yaw) is 1.04 radians with an angular velocity of 1.04 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 5.0 meters away at (3.9, -3.1). A pedestrian with ID 21 is 8.0 meters away at (7.4, -3.0). A vehicle with ID 20 is 9.8 meters away at (3.0, -9.3). A unknown object with ID 25 is 24.6 meters away at (-23.2, -8.3). A vehicle with ID 24 is 35.8 meters away at (27.5, -22.9). A unknown object with ID 8 is 52.2 meters away at (42.7, -30.1). A pedestrian with ID 3 is 69.4 meters away at (36.2, 59.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.04208741 -0.01366555] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.01101432 -0.01833193] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-5.431661   1.6773629] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.47268906 -1.3073174 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 4.8) m/s. Its current heading (yaw) is 0.83 radians with an angular velocity of 0.83 rad/s.

The most relevant actors are: A pedestrian with ID 21 is 11.9 meters away at (0.2, -11.9). A pedestrian with ID 19 is 12.1 meters away at (-3.2, -11.6). A vehicle with ID 20 is 21.8 meters away at (-17.6, -12.9). A unknown object with ID 25 is 34.6 meters away at (-30.5, -16.4). A pedestrian with ID 3 is 55.8 meters away at (28.7, 47.9).

The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.03529707 -0.00647004] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00847922  0.01874118] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-8.038753   3.0502586] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.605475  -1.1636397] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 71 is 19.0 meters away at (-3.0, 18.8). A vehicle with ID 44 is 24.3 meters away at (-8.2, 22.9). A vehicle with ID 35 is 27.0 meters away at (19.3, 18.9). A vehicle with ID 67 is 27.2 meters away at (-6.3, -26.5). A pedestrian with ID 66 is 28.9 meters away at (-24.5, -15.5). A vehicle with ID 65 is 29.7 meters away at (-16.5, -24.7). A vehicle with ID 52 is 30.4 meters away at (-13.5, 27.3). A vehicle with ID 37 is 39.8 meters away at (27.4, 28.9). A vehicle with ID 62 is 46.8 meters away at (24.1, 40.2). A vehicle with ID 36 is 46.8 meters away at (31.8, 34.4).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 66 is traveling at a (x, y) velocity of [-0.5431335 -1.4253705] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 2.7680576 -4.0602803] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 6.8) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 35 is 10.1 meters away at (8.6, 5.3). A vehicle with ID 71 is 14.6 meters away at (-13.7, 5.1). A unknown object with ID 39 is 18.3 meters away at (-2.7, 18.1). A unknown object with ID 38 is 22.4 meters away at (-15.6, 16.2). A vehicle with ID 37 is 22.5 meters away at (16.6, 15.2). A unknown object with ID 47 is 24.5 meters away at (-17.0, 17.6). A vehicle with ID 36 is 29.6 meters away at (21.0, 20.8). A vehicle with ID 62 is 29.7 meters away at (13.2, 26.5). A vehicle with ID 63 is 36.4 meters away at (17.7, 31.8). A vehicle with ID 34 is 37.4 meters away at (25.9, 27.0).

The vehicle with ID 35 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 unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.4) 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 37 is 6.0 meters away at (5.7, 1.8). A vehicle with ID 35 is 8.3 meters away at (-2.3, -8.0). A vehicle with ID 36 is 12.5 meters away at (10.1, 7.3). A vehicle with ID 62 is 13.4 meters away at (2.3, 13.1). A unknown object with ID 39 is 14.7 meters away at (-13.9, 4.9). A vehicle with ID 63 is 19.6 meters away at (6.7, 18.4). A vehicle with ID 34 is 20.3 meters away at (15.0, 13.6). A vehicle with ID 41 is 22.5 meters away at (-22.0, -4.5). A vehicle with ID 64 is 25.6 meters away at (10.4, 23.4). A vehicle with ID 71 is 26.3 meters away at (-25.0, -8.2).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.2) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 34 is 4.5 meters away at (4.5, 0.6). A vehicle with ID 36 is 5.4 meters away at (-0.3, -5.4). A vehicle with ID 63 is 6.8 meters away at (-3.9, 5.5). A vehicle with ID 62 is 8.3 meters away at (-8.3, 0.2). A vehicle with ID 64 is 10.5 meters away at (-0.2, 10.5). A vehicle with ID 6 is 11.4 meters away at (9.2, 6.7). A vehicle with ID 37 is 12.0 meters away at (-4.8, -11.0). A vehicle with ID 3 is 17.3 meters away at (4.8, 16.6). A vehicle with ID 2 is 17.7 meters away at (13.6, 11.3). A vehicle with ID 1 is 24.1 meters away at (9.4, 22.2).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.4) 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 11 is 18.7 meters away at (6.1, 17.6). A vehicle with ID 20 is 35.4 meters away at (-2.2, -35.4). A vehicle with ID 23 is 40.1 meters away at (5.8, -39.6). A vehicle with ID 17 is 43.5 meters away at (21.9, -37.5). A pedestrian with ID 27 is 49.9 meters away at (0.6, 49.9). A vehicle with ID 24 is 58.4 meters away at (-5.7, -58.1). A vehicle with ID 28 is 67.5 meters away at (-5.3, -67.3). A pedestrian with ID 13 is 74.5 meters away at (1.3, -74.5). A pedestrian with ID 25 is 74.5 meters away at (-9.6, -73.9).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-2.7418077  3.2331479] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.521356   2.1870503] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [16.175621  -4.7573667] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.16690975 -1.4384956 ] m/s.The vehicle with ID 24 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.2330829e-04  6.7118592e-05] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.2132094   0.46628606] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.1) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 20 is 21.8 meters away at (-3.8, -21.5). A vehicle with ID 11 is 22.8 meters away at (8.2, 21.3). A vehicle with ID 23 is 29.7 meters away at (0.3, -29.7). A pedestrian with ID 27 is 50.8 meters away at (3.1, 50.7). A vehicle with ID 24 is 54.7 meters away at (-3.7, -54.6). A vehicle with ID 28 is 63.8 meters away at (-3.3, -63.7). A pedestrian with ID 13 is 71.1 meters away at (3.1, -71.0). A pedestrian with ID 15 is 72.0 meters away at (2.9, -72.0). A pedestrian with ID 18 is 76.9 meters away at (5.7, -76.7).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.6011484  6.7970076] m/s.The vehicle with ID 11 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 [-3.2841284  4.903097 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.00738169 -1.2877018 ] m/s.The vehicle with ID 24 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 pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.0363323  -0.01082829] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.04186305 -0.03740675] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0194205  0.00628898] 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, -2.3) m/s. Its current heading (yaw) is -1.57 radians with an angular velocity of -1.57 rad/s.

The most relevant actors are: A vehicle with ID 20 is 3.9 meters away at (-3.8, -0.9). A vehicle with ID 23 is 12.4 meters away at (-2.9, -12.0). A vehicle with ID 11 is 27.3 meters away at (8.8, 25.8). A vehicle with ID 24 is 50.2 meters away at (-3.0, -50.1). A pedestrian with ID 27 is 52.8 meters away at (3.7, 52.6). A vehicle with ID 28 is 59.3 meters away at (-2.5, -59.2). A pedestrian with ID 13 is 66.6 meters away at (3.9, -66.4). A pedestrian with ID 5 is 66.7 meters away at (-7.1, -66.3). A pedestrian with ID 15 is 67.5 meters away at (3.7, -67.4). A pedestrian with ID 18 is 72.5 meters away at (6.4, -72.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.05932062  9.041043  ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.6106824  7.8938856] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.02257917 -1.2617469 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00560629 -0.00894426] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.04120249 -0.01491781] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.02564694 0.01155995] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01225801 0.00136118] 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, -2.4) 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 vehicle with ID 23 is 9.5 meters away at (-3.4, 8.9). A vehicle with ID 20 is 24.0 meters away at (-3.8, 23.7). A vehicle with ID 11 is 32.0 meters away at (8.7, 30.7). A pedestrian with ID 2 is 33.5 meters away at (28.6, -17.4). A vehicle with ID 24 is 45.3 meters away at (-3.1, -45.2). A vehicle with ID 28 is 54.4 meters away at (-2.6, -54.3). A pedestrian with ID 27 is 55.0 meters away at (3.5, 54.9). A pedestrian with ID 13 is 61.6 meters away at (3.9, -61.5). A pedestrian with ID 5 is 61.7 meters away at (-7.1, -61.3). A pedestrian with ID 14 is 62.4 meters away at (-7.5, -62.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [-0.14450265  8.009176  ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 0.0346866 10.586694 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.312381    0.39848134] m/s.The vehicle with ID 24 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 pedestrian with ID 27 is traveling at a (x, y) velocity of [ 0.02590764 -1.3116206 ] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02500449 -0.00212877] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.001451    0.01731574] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.04404834  0.01433701] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, -1.7) m/s. Its current heading (yaw) is -2.07 radians with an angular velocity of -2.07 rad/s.

The most relevant actors are: A vehicle with ID 50 is 8.5 meters away at (8.2, 2.2). A vehicle with ID 48 is 12.4 meters away at (10.6, 6.5). A vehicle with ID 58 is 14.6 meters away at (5.9, -13.4). A vehicle with ID 49 is 16.8 meters away at (-1.5, -16.7). A vehicle with ID 53 is 17.4 meters away at (13.6, 10.8). A vehicle with ID 65 is 21.3 meters away at (11.0, -18.2). A vehicle with ID 54 is 22.9 meters away at (16.4, 15.9). A vehicle with ID 46 is 24.2 meters away at (-23.6, 5.6). A vehicle with ID 71 is 27.9 meters away at (-0.1, -27.9). A pedestrian with ID 57 is 28.1 meters away at (-27.9, -3.0).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 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 [ 2.9388332 -4.9873576] m/s.The vehicle with ID 53 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 54 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 [-1.9171987  1.7335862] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.600623  1.2389512] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -1.9) m/s. Its current heading (yaw) is -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 50 is 11.6 meters away at (10.2, 5.5). A vehicle with ID 58 is 12.9 meters away at (8.0, -10.2). A vehicle with ID 48 is 16.0 meters away at (12.6, 9.8). A unknown object with ID 41 is 16.6 meters away at (-7.5, -14.8). A vehicle with ID 65 is 19.7 meters away at (13.1, -14.8). A vehicle with ID 53 is 21.2 meters away at (15.7, 14.2). A pedestrian with ID 57 is 24.7 meters away at (-24.5, 3.3). A vehicle with ID 71 is 24.8 meters away at (2.1, -24.7). A vehicle with ID 46 is 25.1 meters away at (-23.0, 10.1). A vehicle with ID 49 is 25.4 meters away at (9.6, -23.5).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.0302079 1.3316809] m/s.The vehicle with ID 71 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 [ 5.624776  -5.3331833] 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, 0.1) m/s. Its current heading (yaw) is 3.11 radians with an angular velocity of 3.11 rad/s.

The most relevant actors are: A unknown object with ID 41 is 12.1 meters away at (-1.8, -12.0). A vehicle with ID 58 is 15.6 meters away at (13.6, -7.6). A vehicle with ID 50 is 17.9 meters away at (15.9, 8.2). A pedestrian with ID 57 is 18.8 meters away at (-16.7, 8.7). A vehicle with ID 46 is 21.7 meters away at (-17.4, 12.9). A vehicle with ID 48 is 22.2 meters away at (18.3, 12.5). A vehicle with ID 65 is 22.4 meters away at (18.7, -12.3). A vehicle with ID 71 is 23.2 meters away at (7.7, -21.9). A vehicle with ID 53 is 27.2 meters away at (21.4, 16.9). A vehicle with ID 77 is 27.9 meters away at (3.7, -27.7).

The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [1.1468092 1.2502162] 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.The vehicle with ID 65 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 1.8) m/s. Its current heading (yaw) is 2.51 radians with an angular velocity of 2.51 rad/s.

The most relevant actors are: A pedestrian with ID 57 is 12.6 meters away at (-8.8, 9.0). A vehicle with ID 46 is 15.6 meters away at (-11.5, 10.5). A vehicle with ID 58 is 21.9 meters away at (19.4, -10.2). A vehicle with ID 50 is 22.5 meters away at (21.8, 5.6). A vehicle with ID 48 is 26.2 meters away at (24.2, 9.9). A vehicle with ID 71 is 27.9 meters away at (13.4, -24.5). A pedestrian with ID 19 is 28.3 meters away at (7.8, -27.2). A vehicle with ID 65 is 28.7 meters away at (24.5, -14.9). A vehicle with ID 53 is 30.8 meters away at (27.3, 14.3). A vehicle with ID 77 is 31.6 meters away at (9.4, -30.2).

The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.62563944 1.4374276 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.05809914 -0.0031399 ] m/s.The vehicle with ID 65 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.6) m/s. Its current heading (yaw) is -1.30 radians with an angular velocity of -1.30 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 9.7 meters away at (9.5, -2.0). A vehicle with ID 13 is 14.4 meters away at (8.2, 11.8). A vehicle with ID 37 is 15.2 meters away at (13.9, 6.2). A vehicle with ID 42 is 15.4 meters away at (8.3, -12.9). A vehicle with ID 41 is 25.4 meters away at (18.0, 17.9). A pedestrian with ID 43 is 25.9 meters away at (20.4, 16.0). A vehicle with ID 46 is 31.6 meters away at (12.0, -29.2). A vehicle with ID 39 is 32.4 meters away at (28.4, -15.7). A unknown object with ID 44 is 34.9 meters away at (-12.7, 32.6). A unknown object with ID 45 is 37.2 meters away at (-13.1, 34.9).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.26238662 -1.0018225 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.2345945  -0.43936923] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.29659322 0.56940264] m/s.The vehicle with ID 46 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 unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -1.8) m/s. Its current heading (yaw) is -1.05 radians with an angular velocity of -1.05 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 8.8 meters away at (8.8, -0.3). A vehicle with ID 42 is 11.8 meters away at (7.1, -9.5). A vehicle with ID 37 is 15.8 meters away at (12.7, 9.5). A vehicle with ID 13 is 16.7 meters away at (8.7, 14.2). A vehicle with ID 41 is 27.0 meters away at (16.8, 21.2). A vehicle with ID 46 is 28.0 meters away at (10.7, -25.9). A vehicle with ID 39 is 29.8 meters away at (27.1, -12.4). A unknown object with ID 44 is 38.6 meters away at (-13.9, 36.0). A unknown object with ID 45 is 40.9 meters away at (-14.2, 38.3). A unknown object with ID 47 is 42.8 meters away at (-14.6, 40.2).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.16504295 -0.64254266] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.67367446 -0.68572575] m/s.The vehicle with ID 41 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 39 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -1.2) m/s. Its current heading (yaw) is -0.41 radians with an angular velocity of -0.41 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 6.0 meters away at (5.6, 2.3). A vehicle with ID 42 is 6.7 meters away at (2.4, -6.2). A vehicle with ID 37 is 15.8 meters away at (9.0, 13.0). A vehicle with ID 13 is 17.3 meters away at (5.8, 16.3). A pedestrian with ID 29 is 23.4 meters away at (18.7, -14.0). A vehicle with ID 46 is 23.4 meters away at (7.0, -22.4). A vehicle with ID 39 is 25.0 meters away at (23.4, -9.0). A vehicle with ID 41 is 27.9 meters away at (13.0, 24.7). A pedestrian with ID 38 is 41.2 meters away at (40.9, 4.7). A unknown object with ID 44 is 43.2 meters away at (-17.5, 39.5).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.1595022 -0.217788 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.2808965  -0.08398364] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.6930484  -0.86068743] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.12067938 -0.8162529 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.26100612 -1.174466  ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 0.3) m/s. Its current heading (yaw) is 0.07 radians with an angular velocity of 0.07 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 2.8 meters away at (-1.0, 2.6). A vehicle with ID 42 is 9.9 meters away at (-9.1, -3.8). A vehicle with ID 37 is 14.1 meters away at (2.4, 13.9). A vehicle with ID 13 is 16.1 meters away at (-0.1, 16.1). A vehicle with ID 39 is 18.6 meters away at (16.7, -8.0). A vehicle with ID 41 is 26.3 meters away at (6.2, 25.6). A pedestrian with ID 38 is 34.5 meters away at (34.3, 3.6). A vehicle with ID 36 is 37.7 meters away at (37.4, 5.0). A unknown object with ID 44 is 47.0 meters away at (-24.3, 40.3). A vehicle with ID 40 is 48.8 meters away at (47.8, 9.7).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.01598242 -0.02211474] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.711929  1.999653] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 0.33580926 -0.5397385 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.12794858 -1.0693283 ] m/s.The vehicle with ID 36 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 vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, -3.1) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 3 is 4.8 meters away at (-0.5, 4.7). A vehicle with ID 17 is 8.9 meters away at (8.8, -0.9). A vehicle with ID 54 is 11.0 meters away at (-10.9, 1.3). A vehicle with ID 10 is 11.2 meters away at (-9.5, 5.9). A vehicle with ID 59 is 14.0 meters away at (4.7, 13.2). A vehicle with ID 13 is 14.5 meters away at (-9.9, 10.5). A vehicle with ID 9 is 15.1 meters away at (13.3, -7.1). A vehicle with ID 57 is 16.2 meters away at (-0.4, 16.2). A vehicle with ID 55 is 16.9 meters away at (-16.2, 4.6). A vehicle with ID 58 is 20.3 meters away at (-5.9, 19.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.9776397 -2.1747458] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.2411    -2.4277468] m/s.The vehicle with ID 54 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 [ 4.584156  -2.6032457] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.9415665 -2.2143047] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.5383215 -3.5223596] m/s.The vehicle with ID 57 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -4.3) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 17 is 5.6 meters away at (5.5, 0.9). A vehicle with ID 3 is 8.9 meters away at (-5.0, 7.3). A pedestrian with ID 69 is 13.2 meters away at (-9.5, -9.1). A vehicle with ID 81 is 13.4 meters away at (13.2, 2.3). A vehicle with ID 10 is 14.2 meters away at (-12.1, 7.3). A vehicle with ID 9 is 16.2 meters away at (14.4, -7.4). A pedestrian with ID 71 is 19.1 meters away at (10.6, -15.9). A vehicle with ID 13 is 19.3 meters away at (-14.3, 13.0). A vehicle with ID 59 is 22.3 meters away at (-8.4, 20.6). A vehicle with ID 49 is 24.1 meters away at (24.1, 0.4).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.920669  -3.3357646] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.439918  -3.0873039] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-2.0522764  1.1680744] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-6.6183653  3.664134 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 6.2305813 -3.6313746] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.503025 -4.214622] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 1.3424141 -1.0279648] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.7017713 -2.654649 ] m/s.The vehicle with ID 59 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 [-5.307062   2.8006408] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -4.9) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.9 meters away at (2.9, 2.6). A vehicle with ID 82 is 8.6 meters away at (0.6, 8.6). A vehicle with ID 3 is 12.6 meters away at (-8.6, 9.2). A vehicle with ID 9 is 14.9 meters away at (13.2, -7.0). A vehicle with ID 49 is 16.2 meters away at (-4.1, 15.7). A vehicle with ID 10 is 16.7 meters away at (-14.4, 8.4). A vehicle with ID 85 is 21.6 meters away at (21.4, -2.8). A vehicle with ID 19 is 23.9 meters away at (22.2, -8.8). A vehicle with ID 13 is 25.5 meters away at (-19.9, 16.0). A vehicle with ID 83 is 25.8 meters away at (19.6, 16.7).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.4293003 -4.0591455] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-6.849291   3.6324863] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.977772  -3.9104395] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 7.552706  -4.3864098] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-6.609355  3.403963] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.7211905 -4.409658 ] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.58709    0.8638727] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 7.287524 -4.694576] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.459543  -3.5763333] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -4.2) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.8 meters away at (2.2, 3.1). A vehicle with ID 85 is 8.8 meters away at (0.7, 8.8). A vehicle with ID 89 is 9.5 meters away at (8.4, 4.5). A vehicle with ID 9 is 13.2 meters away at (11.5, -6.4). A vehicle with ID 3 is 14.2 meters away at (-10.0, 10.1). A vehicle with ID 10 is 16.5 meters away at (-14.3, 8.3). A vehicle with ID 19 is 21.9 meters away at (20.0, -9.0). A vehicle with ID 20 is 25.4 meters away at (24.9, -5.3). A vehicle with ID 83 is 25.7 meters away at (4.1, 25.3). A pedestrian with ID 12 is 27.6 meters away at (17.9, -21.0).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.6427937 -4.3726707] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-2.8459373  1.6168693] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-2.595025   1.5135938] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 6.4678073 -3.8451533] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 7.263152  -4.0177326] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 7.922315 -4.434579] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 6.634706 -4.439339] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-1.9705844  1.139635 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.1013694  0.5492355] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.9) m/s. Its current heading (yaw) is 2.69 radians with an angular velocity of 2.69 rad/s.

The most relevant actors are: A vehicle with ID 26 is 11.6 meters away at (-10.9, -3.8). A vehicle with ID 25 is 14.9 meters away at (1.9, -14.8). A vehicle with ID 33 is 20.1 meters away at (-19.9, 2.8). A vehicle with ID 28 is 22.4 meters away at (9.2, -20.5). A vehicle with ID 30 is 24.1 meters away at (15.9, -18.2). A vehicle with ID 32 is 25.2 meters away at (3.1, -25.0). A vehicle with ID 34 is 25.4 meters away at (-5.5, -24.8). A vehicle with ID 29 is 25.4 meters away at (19.5, -16.4). A vehicle with ID 31 is 27.9 meters away at (13.7, -24.3). A vehicle with ID 38 is 28.8 meters away at (-27.3, 9.2).

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 [ 0.31639102 -0.3674041 ] m/s.The vehicle with ID 33 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 [ 0.34364462 -0.35769862] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.5267674 0.5793017] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.3) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 26 is 10.5 meters away at (-1.9, -10.3). A vehicle with ID 33 is 11.4 meters away at (-10.8, -3.6). A vehicle with ID 38 is 18.3 meters away at (-18.1, 2.7). A vehicle with ID 42 is 24.8 meters away at (-23.4, 8.2). A vehicle with ID 25 is 25.0 meters away at (11.7, -22.1). A vehicle with ID 52 is 25.3 meters away at (-24.9, 4.5). A vehicle with ID 34 is 30.1 meters away at (4.9, -29.7). A vehicle with ID 27 is 32.5 meters away at (-29.7, 13.1). A vehicle with ID 28 is 32.9 meters away at (18.4, -27.3). A vehicle with ID 32 is 34.1 meters away at (13.4, -31.4).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.42240244 -0.43362385] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.8372822 -2.4248343] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.77368623 0.9550392 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [1.495156   0.11350845] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A vehicle with ID 38 is 8.9 meters away at (-5.9, -6.7). A vehicle with ID 42 is 11.2 meters away at (-11.1, -1.3). A vehicle with ID 52 is 12.1 meters away at (-7.2, -9.8). A vehicle with ID 33 is 13.0 meters away at (1.4, -13.0). A vehicle with ID 27 is 17.9 meters away at (-17.5, 3.7). A vehicle with ID 26 is 22.3 meters away at (10.4, -19.7). A unknown object with ID 10 is 30.0 meters away at (-17.4, 24.5). A vehicle with ID 25 is 41.3 meters away at (25.2, -32.7). A vehicle with ID 34 is 41.9 meters away at (18.3, -37.7). A vehicle with ID 28 is 47.9 meters away at (30.7, -36.8).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 2.445206  -2.0789738] m/s.The vehicle with ID 33 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.7673311  -0.64059246] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.5755517 0.8336507] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 5.8) m/s. Its current heading (yaw) is 2.48 radians with an angular velocity of 2.48 rad/s.

The most relevant actors are: A vehicle with ID 27 is 7.3 meters away at (-3.0, -6.6). A vehicle with ID 42 is 12.6 meters away at (4.3, -11.8). A unknown object with ID 10 is 14.6 meters away at (-2.8, 14.3). A vehicle with ID 38 is 19.0 meters away at (8.7, -16.9). A vehicle with ID 52 is 26.8 meters away at (12.0, -24.0). A vehicle with ID 33 is 28.2 meters away at (16.1, -23.2). A vehicle with ID 26 is 39.1 meters away at (25.1, -29.9). A vehicle with ID 1 is 56.0 meters away at (-37.1, 41.9). A vehicle with ID 34 is 57.3 meters away at (34.3, -45.8). A vehicle with ID 17 is 57.4 meters away at (-20.4, -53.6).

The vehicle with ID 27 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 [ 1.0427254  -0.27244735] m/s.The unknown object with ID 10 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 52 is traveling at a (x, y) velocity of [ 2.631732  -2.4110875] m/s.The vehicle with ID 33 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.8467272 1.3977742] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.1) m/s. Its current heading (yaw) is -0.40 radians with an angular velocity of -0.40 rad/s.

The most relevant actors are: A pedestrian with ID 15 is 9.0 meters away at (1.0, 8.9). A pedestrian with ID 16 is 9.3 meters away at (1.7, 9.2). A vehicle with ID 25 is 12.6 meters away at (2.5, -12.3). A vehicle with ID 24 is 12.6 meters away at (2.6, -12.3). A vehicle with ID 19 is 14.9 meters away at (-1.0, -14.9). A pedestrian with ID 3 is 16.7 meters away at (14.0, 9.2). A vehicle with ID 22 is 19.2 meters away at (5.9, -18.3). A vehicle with ID 17 is 21.9 meters away at (-9.0, -20.0). A pedestrian with ID 18 is 22.8 meters away at (-13.7, -18.2). A pedestrian with ID 21 is 22.8 meters away at (-7.6, -21.5).

The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.00634316 -0.00404877] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.01416432 -0.00261438] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-9.814728   3.9920409] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-10.031408    4.1002374] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.00205501  0.0013006 ] m/s.The vehicle with ID 22 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 [-0.19721192 -1.8586552 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.04563024 -0.01613224] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00066156 -0.00511391] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -3.2) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A unknown object with ID 7 is 14.9 meters away at (7.9, -12.6). A vehicle with ID 22 is 15.1 meters away at (-9.2, -12.0). A vehicle with ID 23 is 15.4 meters away at (-1.8, -15.3). A pedestrian with ID 3 is 15.8 meters away at (-0.7, 15.7). A vehicle with ID 19 is 18.3 meters away at (-16.2, -8.6). A vehicle with ID 14 is 19.5 meters away at (6.9, -18.3). A pedestrian with ID 16 is 20.5 meters away at (-13.4, 15.5). A pedestrian with ID 15 is 20.8 meters away at (-14.1, 15.2). A vehicle with ID 26 is 24.9 meters away at (18.8, -16.4). A pedestrian with ID 20 is 29.6 meters away at (-26.0, -14.1).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.09909961 -0.13517682] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.0136439  -0.00307117] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00808228  0.00539944] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.0905156 -1.8097056] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.19367886 -0.02745766] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.9, -3.3) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A unknown object with ID 7 is 9.7 meters away at (-7.7, -6.0). A vehicle with ID 26 is 10.6 meters away at (-1.9, -10.5). A vehicle with ID 14 is 14.5 meters away at (-8.6, -11.7). A vehicle with ID 23 is 19.4 meters away at (-17.4, -8.7). A vehicle with ID 22 is 25.3 meters away at (-24.8, -5.4). A vehicle with ID 19 is 31.8 meters away at (-31.7, -2.0). A pedestrian with ID 16 is 36.5 meters away at (-29.0, 22.1). A pedestrian with ID 15 is 36.9 meters away at (-29.8, 21.8). A vehicle with ID 2 is 43.8 meters away at (-41.4, 14.5). A unknown object with ID 8 is 53.5 meters away at (51.8, -13.5).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.6778727  0.8607953] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01655403 -0.02511674] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0116119  -0.01181886] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 9.16915   -4.0664663] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -3.1) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A unknown object with ID 10 is 7.1 meters away at (-2.5, 6.6). A unknown object with ID 7 is 23.2 meters away at (-23.2, 0.5). A vehicle with ID 26 is 23.8 meters away at (-23.7, -1.5). A vehicle with ID 14 is 24.6 meters away at (-24.1, -5.3). A vehicle with ID 23 is 33.1 meters away at (-33.0, -2.2). A vehicle with ID 22 is 40.2 meters away at (-40.2, 1.0). A vehicle with ID 2 is 40.4 meters away at (-38.3, 13.0). A vehicle with ID 19 is 47.4 meters away at (-47.2, 4.5). A unknown object with ID 9 is 52.4 meters away at (44.1, -28.3).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.4008245  1.8553721] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 [ 9.769303  -4.1118464] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 (-3.7, 3.0) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 77 is 5.1 meters away at (-2.8, -4.2). A vehicle with ID 73 is 15.0 meters away at (11.8, -9.3). A vehicle with ID 7 is 17.5 meters away at (-12.4, 12.3). A vehicle with ID 80 is 19.3 meters away at (-10.5, -16.3). A vehicle with ID 78 is 19.7 meters away at (-12.9, -14.9). A unknown object with ID 79 is 25.3 meters away at (-0.2, -25.3). A unknown object with ID 37 is 25.5 meters away at (0.4, -25.5). A vehicle with ID 74 is 26.2 meters away at (-14.4, -21.9). A unknown object with ID 75 is 26.4 meters away at (-25.6, 6.6). A unknown object with ID 83 is 27.3 meters away at (-1.6, -27.3).

The vehicle with ID 77 is traveling at a (x, y) velocity of [ 4.621499  -3.3418522] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.0701442  2.1044557] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.917832   3.6238544] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 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 (-3.3, 3.7) 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 vehicle with ID 73 is 16.1 meters away at (11.7, -11.1). A vehicle with ID 7 is 16.6 meters away at (-10.6, 12.8). A unknown object with ID 75 is 18.4 meters away at (-18.4, -0.2). A vehicle with ID 78 is 22.4 meters away at (-5.8, -21.7). A vehicle with ID 80 is 23.3 meters away at (-3.3, -23.1). A vehicle with ID 77 is 23.6 meters away at (14.9, -18.3). A pedestrian with ID 86 is 25.4 meters away at (-16.3, -19.5). A vehicle with ID 74 is 29.6 meters away at (-7.4, -28.7). A unknown object with ID 79 is 32.8 meters away at (7.2, -32.1). A unknown object with ID 59 is 32.9 meters away at (7.4, -32.1).

The vehicle with ID 73 is traveling at a (x, y) velocity of [-3.8596802  2.6258304] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.7342212  4.107611 ] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [ 5.3533955 -3.5771933] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.8385277  0.51244456] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 3.9) m/s. Its current heading (yaw) is 2.17 radians with an angular velocity of 2.17 rad/s.

The most relevant actors are: A unknown object with ID 75 is 14.8 meters away at (-12.6, -7.7). A vehicle with ID 7 is 16.8 meters away at (-10.0, 13.5). A vehicle with ID 73 is 17.7 meters away at (10.7, -14.1). A vehicle with ID 23 is 21.7 meters away at (-18.4, 11.5). A pedestrian with ID 86 is 27.4 meters away at (-8.7, -26.0). A vehicle with ID 78 is 29.2 meters away at (-0.0, -29.2). A vehicle with ID 80 is 30.8 meters away at (2.4, -30.7). A vehicle with ID 19 is 34.6 meters away at (25.4, -23.5). A vehicle with ID 74 is 36.7 meters away at (-1.9, -36.7). A vehicle with ID 20 is 39.3 meters away at (-20.7, 33.4).

The unknown object with ID 75 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 [-2.8968537  4.8112698] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.3072882  1.5075237] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.7060246 -9.400222 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [0.9815344  0.49338216] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 [-3.4490707  2.4261794] m/s.The vehicle with ID 74 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 [-3.2623425  5.181902 ] 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, 4.6) m/s. Its current heading (yaw) is 2.14 radians with an angular velocity of 2.14 rad/s.

The most relevant actors are: A vehicle with ID 23 is 14.9 meters away at (1.2, -14.8). A unknown object with ID 75 is 17.5 meters away at (-7.2, -15.9). A vehicle with ID 7 is 18.3 meters away at (-10.4, 15.0). A vehicle with ID 73 is 24.9 meters away at (13.7, -20.9). A pedestrian with ID 86 is 33.2 meters away at (-1.4, -33.1). A unknown object with ID 6 is 36.1 meters away at (14.9, 32.8). A vehicle with ID 19 is 36.8 meters away at (24.6, -27.3). A vehicle with ID 78 is 37.9 meters away at (5.4, -37.5). A vehicle with ID 8 is 38.3 meters away at (17.7, 33.9). A vehicle with ID 80 is 39.8 meters away at (7.8, -39.0).

The vehicle with ID 23 is traveling at a (x, y) velocity of [ 7.633379 -8.234028] m/s.The unknown object with ID 75 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 [-3.0106616  5.086967 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-0.71680653  0.4165902 ] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [1.0195274 0.6253624] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-2.5967743  2.1152241] m/s.The vehicle with ID 78 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A pedestrian with ID 19 is 21.1 meters away at (-10.8, 18.2). A pedestrian with ID 20 is 21.3 meters away at (-10.1, 18.8). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.8). A pedestrian with ID 28 is 29.5 meters away at (-28.5, -7.7). A vehicle with ID 14 is 32.5 meters away at (-19.5, -25.9). A vehicle with ID 7 is 38.2 meters away at (-37.6, -6.5). A pedestrian with ID 22 is 53.4 meters away at (53.0, 6.0). A vehicle with ID 26 is 55.5 meters away at (-45.7, 31.4). A vehicle with ID 21 is 55.5 meters away at (-37.8, -40.6).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-1.1901823  0.4149837] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-1.2171944   0.47737768] 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 [-0.8780857 -1.0637547] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.3793542 -7.6850696] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.3578242   0.08992472] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.9203115 -1.5638779] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.7). A pedestrian with ID 19 is 22.6 meters away at (-12.7, 18.7). A pedestrian with ID 20 is 23.0 meters away at (-12.2, 19.5). A pedestrian with ID 28 is 31.5 meters away at (-29.8, -10.0). A vehicle with ID 7 is 38.3 meters away at (-37.8, -6.5). A vehicle with ID 26 is 47.6 meters away at (-38.3, 28.2). A vehicle with ID 14 is 47.9 meters away at (-25.9, -40.3). A pedestrian with ID 22 is 50.7 meters away at (50.4, 6.0). A vehicle with ID 21 is 55.5 meters away at (-37.7, -40.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8341061   0.35551947] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.9824124  0.3895335] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.25972036 -1.2302023 ] m/s.The vehicle with ID 7 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 [ 3.2487772 -1.43948  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-3.016176  -6.8738027] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.5588512   0.01650623] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.6, -3.2). A vehicle with ID 17 is 21.7 meters away at (-0.7, 21.7). A pedestrian with ID 19 is 23.1 meters away at (-13.2, 18.9). A pedestrian with ID 20 is 24.3 meters away at (-13.3, 20.4). A pedestrian with ID 28 is 32.2 meters away at (-29.6, -12.7). A vehicle with ID 7 is 38.3 meters away at (-37.8, -6.5). A vehicle with ID 26 is 41.4 meters away at (-32.5, 25.7). A vehicle with ID 16 is 48.0 meters away at (-42.0, 23.2). A pedestrian with ID 22 is 48.1 meters away at (47.7, 6.4). A pedestrian with ID 11 is 50.2 meters away at (25.7, 43.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01945182 -0.04605518] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.43753317  0.7522271 ] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.17164275 -1.4284191 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 2.2313132 -0.9385646] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.2644963 -3.2549381] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.4011964  -0.10838915] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00520143  0.0016913 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A vehicle with ID 13 is 7.3 meters away at (6.5, -3.2). A vehicle with ID 17 is 21.8 meters away at (-0.7, 21.8). A pedestrian with ID 19 is 24.2 meters away at (-13.8, 19.9). A pedestrian with ID 20 is 26.7 meters away at (-14.4, 22.4). A vehicle with ID 16 is 32.2 meters away at (-27.5, 16.7). A pedestrian with ID 28 is 33.6 meters away at (-29.9, -15.3). A vehicle with ID 26 is 38.2 meters away at (-29.4, 24.4). A vehicle with ID 7 is 38.4 meters away at (-37.8, -6.5). A pedestrian with ID 22 is 45.5 meters away at (45.1, 6.1). A pedestrian with ID 11 is 49.7 meters away at (25.4, 42.7).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.5292703  1.159158 ] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.48251638  1.2009143 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.6625147 -3.4062455] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.337445  -1.2816967] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 1.281717  -0.4974168] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1792506  -0.09830525] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.34107533 -0.6509618 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.5) m/s. Its current heading (yaw) is -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 6.7 meters away at (6.1, 2.9). A pedestrian with ID 11 is 6.9 meters away at (6.6, 2.2). A pedestrian with ID 12 is 10.2 meters away at (-3.1, -9.8). A pedestrian with ID 14 is 16.4 meters away at (-15.8, -4.4). A vehicle with ID 13 is 20.4 meters away at (-18.4, -8.7). A unknown object with ID 23 is 27.7 meters away at (14.3, 23.6). A unknown object with ID 6 is 29.3 meters away at (-29.2, -2.2). A unknown object with ID 29 is 30.3 meters away at (-10.8, 28.3). A vehicle with ID 15 is 34.6 meters away at (-22.9, -25.8). A vehicle with ID 45 is 50.2 meters away at (-30.7, -39.7).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00366277 -0.0046396 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00875587 -0.00398167] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.3765837  -0.03112117] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5629574 -0.7338738] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-0.0181733  0.6803014] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 15 is traveling at a (x, y) velocity of [-0.4646238 -6.4653134] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.77465564 1.9464904 ] 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 -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.2, 3.2). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.5). A pedestrian with ID 12 is 9.3 meters away at (0.1, -9.3). A pedestrian with ID 14 is 14.0 meters away at (-12.8, -5.5). A unknown object with ID 3 is 14.9 meters away at (-14.7, -2.6). A vehicle with ID 13 is 18.0 meters away at (-17.7, -3.2). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.0). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.8). A unknown object with ID 29 is 30.6 meters away at (-10.7, 28.7). A vehicle with ID 45 is 47.7 meters away at (-29.7, -37.2).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.01223983 0.00906055] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.00664206 0.00656698] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.60968    0.14185926] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5621812  -0.73611885] m/s.The unknown object with ID 3 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 [1.136142  4.3531313] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 45 is traveling at a (x, y) velocity of [0.22319162 0.48214567] 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 -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.1, 3.2). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.5). A pedestrian with ID 12 is 9.9 meters away at (3.3, -9.3). A pedestrian with ID 14 is 12.0 meters away at (-9.8, -6.9). A unknown object with ID 3 is 14.9 meters away at (-14.7, -2.5). A vehicle with ID 13 is 15.3 meters away at (-12.9, 8.2). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.1). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.7). A unknown object with ID 29 is 30.7 meters away at (-10.7, 28.7). A vehicle with ID 45 is 46.5 meters away at (-29.3, -36.1).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00342842 0.00117256] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00271082  0.00128128] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.4998654  0.00630467] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5596616  -0.62252754] m/s.The unknown object with ID 3 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 [3.185635 7.022291] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 45 is traveling at a (x, y) velocity of [0.22271381 0.48158285] 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 -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 7.0 meters away at (6.2, 3.3). A pedestrian with ID 11 is 7.1 meters away at (6.6, 2.6). A pedestrian with ID 14 is 10.7 meters away at (-6.8, -8.2). A pedestrian with ID 12 is 11.6 meters away at (6.3, -9.7). A vehicle with ID 13 is 25.0 meters away at (-5.7, 24.3). A unknown object with ID 23 is 28.0 meters away at (14.4, 24.0). A unknown object with ID 6 is 29.2 meters away at (-29.1, -1.6). A unknown object with ID 29 is 30.7 meters away at (-10.7, 28.7). A vehicle with ID 28 is 34.1 meters away at (-34.0, -2.8). A vehicle with ID 45 is 46.0 meters away at (-29.0, -35.6).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [0.00226191 0.00202385] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00225672  0.00075852] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 1.5559118 -0.6076807] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.449762  -0.3867743] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.0532594 9.042222 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 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 28 is traveling at a (x, y) velocity of [11.4378605 -5.176754 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -6.6) 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 vehicle with ID 40 is 40.3 meters away at (-20.9, -34.5). A vehicle with ID 41 is 41.0 meters away at (-23.5, -33.6). A vehicle with ID 11 is 44.9 meters away at (-13.1, -42.9). A vehicle with ID 12 is 54.3 meters away at (-19.2, -50.8). A vehicle with ID 39 is 63.0 meters away at (-6.6, -62.7). A vehicle with ID 5 is 66.9 meters away at (-23.0, -62.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.4765325 -7.8166947] m/s.The vehicle with ID 12 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.9) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 40 is 26.5 meters away at (-16.5, -20.7). A vehicle with ID 41 is 27.5 meters away at (-19.1, -19.8). A vehicle with ID 34 is 28.8 meters away at (-21.7, -19.0). A vehicle with ID 27 is 30.0 meters away at (-24.0, -18.1). A vehicle with ID 36 is 31.4 meters away at (-26.4, -16.9). A vehicle with ID 12 is 39.8 meters away at (-14.8, -37.0). A vehicle with ID 11 is 46.7 meters away at (-13.4, -44.7). A vehicle with ID 39 is 48.9 meters away at (-2.1, -48.8). A vehicle with ID 5 is 52.2 meters away at (-18.5, -48.9). A vehicle with ID 4 is 57.8 meters away at (-20.1, -54.2).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.5543315 -7.6833816] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.9) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 40 is 14.2 meters away at (-12.3, -7.0). A vehicle with ID 41 is 16.1 meters away at (-14.9, -6.1). A vehicle with ID 34 is 18.3 meters away at (-17.5, -5.2). A vehicle with ID 27 is 20.3 meters away at (-19.8, -4.3). A vehicle with ID 36 is 22.5 meters away at (-22.2, -3.2). A vehicle with ID 31 is 25.0 meters away at (-24.9, -2.5). A vehicle with ID 12 is 25.6 meters away at (-10.7, -23.3). A vehicle with ID 32 is 29.8 meters away at (-29.8, -0.7). A vehicle with ID 28 is 32.3 meters away at (-32.3, -0.4). A vehicle with ID 30 is 34.8 meters away at (-34.8, 0.6).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -6.9) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 40 is 10.5 meters away at (-8.0, 6.8). A vehicle with ID 12 is 11.3 meters away at (-6.4, -9.3). A vehicle with ID 41 is 13.1 meters away at (-10.7, 7.6). A vehicle with ID 34 is 15.7 meters away at (-13.2, 8.5). A vehicle with ID 27 is 18.0 meters away at (-15.4, 9.4). A vehicle with ID 36 is 20.8 meters away at (-17.9, 10.5). A vehicle with ID 39 is 22.2 meters away at (6.5, -21.2). A vehicle with ID 5 is 23.2 meters away at (-10.0, -21.0). A vehicle with ID 31 is 23.4 meters away at (-20.5, 11.2). A vehicle with ID 32 is 28.5 meters away at (-25.4, 12.9).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 (-5.6, -6.5) 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 83 is 3.7 meters away at (-2.5, 2.7). A vehicle with ID 86 is 6.1 meters away at (-5.9, -1.3). A vehicle with ID 80 is 7.9 meters away at (1.9, 7.7). A vehicle with ID 82 is 8.1 meters away at (8.1, -0.2). A pedestrian with ID 69 is 11.2 meters away at (2.0, -11.0). A vehicle with ID 90 is 12.0 meters away at (-10.1, -6.5). A vehicle with ID 78 is 12.9 meters away at (12.0, 4.5). A vehicle with ID 75 is 13.5 meters away at (5.8, 12.2). A vehicle with ID 91 is 14.2 meters away at (-3.5, -13.8). A vehicle with ID 76 is 17.7 meters away at (15.6, 8.5).

The vehicle with ID 83 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. 0.] m/s.The vehicle with ID 80 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 pedestrian with ID 69 is traveling at a (x, y) velocity of [-2.479127e-07 -6.673148e-03] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, -5.6) 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 90 is 5.3 meters away at (0.2, 5.3). A vehicle with ID 73 is 5.4 meters away at (-5.3, -1.0). A vehicle with ID 91 is 7.0 meters away at (6.8, -1.9). A vehicle with ID 86 is 11.5 meters away at (4.4, 10.6). A pedestrian with ID 94 is 12.2 meters away at (5.6, -10.9). A pedestrian with ID 69 is 12.3 meters away at (12.3, 0.8). A vehicle with ID 83 is 16.6 meters away at (7.9, 14.6). A vehicle with ID 82 is 21.9 meters away at (18.5, 11.7). A vehicle with ID 80 is 23.2 meters away at (12.3, 19.7). A pedestrian with ID 67 is 24.8 meters away at (5.9, -24.1).

The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 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. 0.] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [1.0171778  0.94171095] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 0.01103098 -0.01996922] m/s.The vehicle with ID 83 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01116351 0.0071764 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, -6.1) 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 73 is 10.9 meters away at (3.7, 10.3). A pedestrian with ID 33 is 14.9 meters away at (-12.3, -8.4). A pedestrian with ID 95 is 15.5 meters away at (-13.1, -8.2). A pedestrian with ID 94 is 16.6 meters away at (16.4, 2.3). A pedestrian with ID 57 is 17.3 meters away at (14.2, -9.9). A vehicle with ID 91 is 18.5 meters away at (15.9, 9.5). A vehicle with ID 90 is 19.1 meters away at (9.4, 16.7). A vehicle with ID 97 is 19.4 meters away at (9.9, -16.7). A pedestrian with ID 67 is 19.6 meters away at (15.0, -12.7). A pedestrian with ID 44 is 20.5 meters away at (15.4, -13.6).

The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.45971185 -1.2439274 ] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.43221876 -1.2459401 ] m/s.The pedestrian with ID 94 is traveling at a (x, y) velocity of [0.97446394 0.9001631 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.4556649  0.5172386] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.06701109 -0.0481229 ] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.09043318 0.03700762] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, -7.2) 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 pedestrian with ID 33 is 6.4 meters away at (-6.0, 2.2). A pedestrian with ID 95 is 7.1 meters away at (-6.7, 2.3). A pedestrian with ID 102 is 8.3 meters away at (5.3, -6.4). A vehicle with ID 100 is 16.8 meters away at (-16.0, 5.0). A vehicle with ID 66 is 17.4 meters away at (16.0, -6.7). A vehicle with ID 97 is 17.8 meters away at (17.4, -3.7). A pedestrian with ID 57 is 19.3 meters away at (18.9, 3.9). A pedestrian with ID 32 is 22.2 meters away at (-4.7, -21.7). A pedestrian with ID 67 is 22.4 meters away at (22.4, 0.5). A pedestrian with ID 44 is 22.8 meters away at (22.7, -0.5).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3875785 -1.3163815] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [-0.4146682 -1.3324766] m/s.The pedestrian with ID 102 is traveling at a (x, y) velocity of [0.9255882 1.019538 ] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.4043638   0.21600927] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.39120796 -1.5026882 ] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.01589928 -0.00858659] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.04396592 -0.02336166] m/s.

Instruction: Slight right turn approaching.