The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.1) m/s. Its current heading (yaw) is 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A unknown object with ID 13 is 12.7 meters away at (2.2, -12.5). A vehicle with ID 19 is 13.1 meters away at (-2.6, -12.8). A vehicle with ID 21 is 16.2 meters away at (-3.4, -15.9). A unknown object with ID 4 is 20.1 meters away at (0.5, -20.1). A vehicle with ID 23 is 21.2 meters away at (10.4, -18.5). A vehicle with ID 22 is 21.6 meters away at (-4.0, -21.2). A pedestrian with ID 24 is 31.8 meters away at (30.5, 9.1). A vehicle with ID 26 is 35.5 meters away at (-7.1, -34.8). A vehicle with ID 20 is 40.4 meters away at (30.9, 25.9). A unknown object with ID 27 is 46.0 meters away at (-3.4, 45.9).

The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 pedestrian with ID 24 is traveling at a (x, y) velocity of [ 1.0273454 -0.6026803] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 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 (-4.7, 2.8) m/s. Its current heading (yaw) is 2.60 radians with an angular velocity of 2.60 rad/s.

The most relevant actors are: A vehicle with ID 19 is 18.3 meters away at (5.2, -17.6). A vehicle with ID 21 is 21.1 meters away at (4.4, -20.7). A vehicle with ID 22 is 26.3 meters away at (3.7, -26.1). A vehicle with ID 23 is 29.6 meters away at (18.3, -23.3). A vehicle with ID 18 is 37.6 meters away at (-34.4, 15.1). A vehicle with ID 26 is 39.6 meters away at (0.8, -39.6). A pedestrian with ID 24 is 40.4 meters away at (40.3, 3.2). A unknown object with ID 27 is 41.3 meters away at (4.5, 41.1). A vehicle with ID 20 is 44.3 meters away at (38.9, 21.1). A pedestrian with ID 14 is 45.1 meters away at (-42.0, 16.5).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9701368 -0.4959287] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.30442902 -0.79876643] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.5) m/s. Its current heading (yaw) is 1.62 radians with an angular velocity of 1.62 rad/s.

The most relevant actors are: A vehicle with ID 19 is 3.1 meters away at (-2.6, -1.6). A pedestrian with ID 21 is 12.2 meters away at (-7.8, 9.4). A pedestrian with ID 4 is 17.7 meters away at (-6.5, 16.4).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.5565976  0.8668158] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.31900746  1.0982634 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 5.2) m/s. Its current heading (yaw) is 1.54 radians with an angular velocity of 1.54 rad/s.

The most relevant actors are: A pedestrian with ID 4 is 10.9 meters away at (-6.1, 9.0). A vehicle with ID 19 is 11.8 meters away at (-2.2, -11.6). A pedestrian with ID 10 is 20.8 meters away at (-9.8, 18.3). A unknown object with ID 14 is 22.2 meters away at (-11.2, 19.1).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00565674  1.3101952 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.00122616  0.00371233] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 5.1) m/s. Its current heading (yaw) is 1.51 radians with an angular velocity of 1.51 rad/s.

The most relevant actors are: A pedestrian with ID 4 is 6.9 meters away at (-6.8, 1.2). A vehicle with ID 19 is 22.0 meters away at (-2.7, -21.8).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.18527254  1.2724465 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 4.1) m/s. Its current heading (yaw) is 1.52 radians with an angular velocity of 1.52 rad/s.

The most relevant actors are: A pedestrian with ID 4 is 9.3 meters away at (-7.5, -5.6). A pedestrian with ID 3 is 19.4 meters away at (-9.2, -17.0). A vehicle with ID 19 is 31.3 meters away at (-3.3, -31.2).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.02126798  1.2666581 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.0086945  0.00992712] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.3) 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 63 is 8.2 meters away at (0.4, -8.1). A vehicle with ID 71 is 10.0 meters away at (-1.3, -9.9). A vehicle with ID 73 is 12.1 meters away at (-3.0, -11.7). A vehicle with ID 72 is 16.6 meters away at (-5.8, -15.6). A vehicle with ID 74 is 17.5 meters away at (6.4, -16.3). A vehicle with ID 60 is 18.3 meters away at (15.4, 10.0). A vehicle with ID 87 is 18.9 meters away at (-7.5, -17.3). A vehicle with ID 81 is 18.9 meters away at (4.8, -18.3). A vehicle with ID 75 is 21.2 meters away at (-8.9, -19.2). A vehicle with ID 77 is 22.2 meters away at (1.8, -22.2).

The vehicle with ID 63 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 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 87 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 75 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 2.9) m/s. Its current heading (yaw) is 0.89 radians with an angular velocity of 0.89 rad/s.

The most relevant actors are: A pedestrian with ID 30 is 11.8 meters away at (-8.7, 8.0). A vehicle with ID 60 is 12.3 meters away at (11.3, 4.9). A vehicle with ID 63 is 13.7 meters away at (-3.6, -13.2). A vehicle with ID 71 is 15.9 meters away at (-5.4, -15.0). A vehicle with ID 73 is 18.1 meters away at (-7.1, -16.7). A vehicle with ID 67 is 18.9 meters away at (18.8, -1.3). A vehicle with ID 58 is 19.3 meters away at (16.0, 10.8). A vehicle with ID 66 is 20.4 meters away at (20.3, 0.7). A vehicle with ID 74 is 21.4 meters away at (2.3, -21.3). A vehicle with ID 72 is 22.9 meters away at (-9.9, -20.6).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [0.56080395 0.3297167 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 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 67 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 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.1) m/s. Its current heading (yaw) is 0.92 radians with an angular velocity of 0.92 rad/s.

The most relevant actors are: A vehicle with ID 60 is 6.0 meters away at (5.6, -2.2). A vehicle with ID 58 is 10.9 meters away at (10.3, 3.7). A vehicle with ID 57 is 14.9 meters away at (13.0, 7.3). A vehicle with ID 67 is 15.6 meters away at (13.1, -8.4). A vehicle with ID 66 is 15.8 meters away at (14.5, -6.3). A vehicle with ID 64 is 18.1 meters away at (17.9, -3.0). A vehicle with ID 59 is 21.9 meters away at (17.8, 12.8). A vehicle with ID 63 is 22.4 meters away at (-9.4, -20.4). A unknown object with ID 93 is 24.1 meters away at (18.3, -15.8). A vehicle with ID 65 is 24.3 meters away at (23.8, 4.7).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 59 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 unknown object with ID 93 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 (3.4, 4.3) m/s. Its current heading (yaw) is 0.91 radians with an angular velocity of 0.91 rad/s.

The most relevant actors are: A vehicle with ID 58 is 6.0 meters away at (3.8, -4.6). A vehicle with ID 57 is 6.6 meters away at (6.5, -1.0). A vehicle with ID 60 is 10.5 meters away at (-0.9, -10.5). A vehicle with ID 59 is 12.2 meters away at (11.3, 4.5). A vehicle with ID 64 is 16.0 meters away at (11.4, -11.3). A vehicle with ID 66 is 16.9 meters away at (8.2, -14.7). A vehicle with ID 65 is 17.6 meters away at (17.3, -3.6). A vehicle with ID 67 is 18.0 meters away at (6.6, -16.7). A vehicle with ID 18 is 19.0 meters away at (18.9, -1.7). A vehicle with ID 10 is 19.1 meters away at (3.8, 18.7).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.6) m/s. Its current heading (yaw) is -0.42 radians with an angular velocity of -0.42 rad/s.

The most relevant actors are: A pedestrian with ID 38 is 12.7 meters away at (10.7, 6.8). A vehicle with ID 3 is 15.0 meters away at (-13.7, 5.9). A pedestrian with ID 41 is 18.7 meters away at (-15.4, 10.6). A vehicle with ID 42 is 18.8 meters away at (-18.8, -0.3). A cyclist with ID 39 is 19.2 meters away at (-14.1, -13.1). A cyclist with ID 40 is 19.5 meters away at (-16.5, -10.3). A pedestrian with ID 43 is 20.1 meters away at (-16.5, 11.4). A pedestrian with ID 45 is 21.0 meters away at (-17.7, 11.2). A vehicle with ID 48 is 35.3 meters away at (-35.2, -2.5). A vehicle with ID 50 is 38.7 meters away at (35.2, -16.2).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.99094445 -0.58463556] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 6.567744  -2.9600432] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00725713 -0.06757041] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 3.365408  -3.8552086] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-1.0821521 -5.59395  ] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [ 0.31499577 -5.6584687 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01215249 -0.00811146] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.00241373 -0.01346877] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [-4.5813885  3.6852837] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [10.356477  -4.9522104] 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, -2.4) 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 38 is 11.5 meters away at (-3.0, 11.1). A vehicle with ID 3 is 13.9 meters away at (-12.8, 5.3). A vehicle with ID 42 is 26.1 meters away at (-25.6, -5.1). A pedestrian with ID 41 is 30.8 meters away at (-26.7, 15.5). A pedestrian with ID 14 is 31.9 meters away at (-27.8, 15.6). A pedestrian with ID 43 is 32.2 meters away at (-27.7, 16.3). A pedestrian with ID 45 is 33.2 meters away at (-29.0, 16.1). A cyclist with ID 40 is 34.4 meters away at (-29.5, -17.7). A cyclist with ID 39 is 36.7 meters away at (-29.9, -21.3). A unknown object with ID 27 is 48.4 meters away at (-42.7, -23.0).

The pedestrian with ID 38 is traveling at a (x, y) velocity of [-1.2138091  -0.35690978] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 5.745891  -2.6114285] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 0.9728061 -5.527843 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00193304  0.00144997] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.03129897 -0.05130064] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00226905 -0.0106702 ] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.00639582 -0.00349879] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-1.6292756 -6.479757 ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.2099316 -7.2460947] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, -2.0) m/s. Its current heading (yaw) is -0.39 radians with an angular velocity of -0.39 rad/s.

The most relevant actors are: A vehicle with ID 3 is 13.7 meters away at (-12.7, 5.1). A cyclist with ID 26 is 21.3 meters away at (-15.2, 14.9). A pedestrian with ID 38 is 21.3 meters away at (-15.1, 15.0). A vehicle with ID 42 is 38.3 meters away at (-36.5, -11.5). A pedestrian with ID 41 is 42.2 meters away at (-37.2, 19.9). A pedestrian with ID 14 is 43.3 meters away at (-38.5, 19.9). A pedestrian with ID 43 is 43.5 meters away at (-38.3, 20.7). A pedestrian with ID 45 is 44.5 meters away at (-39.5, 20.4). A cyclist with ID 40 is 52.5 meters away at (-45.1, -27.0). A cyclist with ID 39 is 57.7 meters away at (-47.5, -32.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 4.9327016 -2.1213326] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.85243386 -0.5397373 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.46585962 -0.15424307] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.9973914 -5.104881 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.00640475 -0.00287919] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01347872 0.00022538] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.01003609 0.00126802] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-2.7286769e-05 -2.1950947e-03] m/s.The cyclist with ID 40 is traveling at a (x, y) velocity of [-2.9082718 -6.977178 ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-3.872454 -8.03385 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -1.4) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 3 is 13.5 meters away at (-12.5, 4.9). A unknown object with ID 15 is 26.0 meters away at (26.0, -2.0). A cyclist with ID 26 is 30.4 meters away at (-24.3, 18.2). A pedestrian with ID 38 is 30.4 meters away at (-24.4, 18.1). A vehicle with ID 42 is 50.6 meters away at (-47.7, -17.0). A pedestrian with ID 41 is 51.3 meters away at (-45.7, 23.3). A pedestrian with ID 14 is 52.3 meters away at (-46.8, 23.4). A pedestrian with ID 43 is 52.6 meters away at (-46.7, 24.2). A pedestrian with ID 45 is 53.5 meters away at (-47.9, 23.9). A unknown object with ID 29 is 66.2 meters away at (61.6, -24.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.4705493 -1.4277725] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 26 is traveling at a (x, y) velocity of [-0.07889317 -0.0312915 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.08671699  0.08182769] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.3218402 -3.433461 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.02728066 -0.02499093] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01236101 -0.01245138] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.00143741 -0.01175039] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.01330369 -0.01095304] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 5.5) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A unknown object with ID 99 is 13.4 meters away at (0.3, 13.4). A vehicle with ID 109 is 31.7 meters away at (-18.5, -25.8). A pedestrian with ID 76 is 32.3 meters away at (-26.4, -18.6). A unknown object with ID 124 is 37.4 meters away at (14.2, -34.6). A vehicle with ID 89 is 38.0 meters away at (-28.6, -25.0).

The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.88718855 -1.1111144 ] m/s.The unknown object with ID 124 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 6.4) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A vehicle with ID 102 is 34.6 meters away at (-29.4, 18.3). A vehicle with ID 109 is 37.8 meters away at (-4.8, -37.5). A unknown object with ID 54 is 38.5 meters away at (-26.1, 28.3). A unknown object with ID 51 is 42.2 meters away at (-28.8, 30.9). A vehicle with ID 104 is 46.0 meters away at (-37.5, 26.7). A vehicle with ID 45 is 67.0 meters away at (-46.4, 48.4). A vehicle with ID 107 is 78.0 meters away at (-60.9, 48.8). A pedestrian with ID 91 is 80.6 meters away at (63.5, -49.7).

The vehicle with ID 102 is traveling at a (x, y) velocity of [ 2.1418178 -2.0857234] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [ 5.1414633 -4.2421265] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 6.0556397 -5.865565 ] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1827505  1.0223063] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.9, 6.2) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A unknown object with ID 83 is 12.0 meters away at (-12.0, -0.7). A vehicle with ID 102 is 13.0 meters away at (-12.7, 2.8). A unknown object with ID 58 is 13.9 meters away at (-13.8, 0.9). A vehicle with ID 104 is 14.7 meters away at (-13.2, 6.6). A unknown object with ID 55 is 16.4 meters away at (-9.7, 13.3). A unknown object with ID 72 is 19.6 meters away at (-6.7, 18.4). A unknown object with ID 54 is 19.8 meters away at (-12.1, 15.6). A unknown object with ID 51 is 23.4 meters away at (-14.8, 18.2). A vehicle with ID 79 is 28.6 meters away at (-26.3, 11.4). A vehicle with ID 107 is 44.4 meters away at (-35.9, 26.2).

The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [ 4.5181046 -3.584673 ] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 4.317951 -3.416136] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 6.2) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A unknown object with ID 54 is 3.4 meters away at (1.2, 3.2). A unknown object with ID 55 is 3.8 meters away at (3.7, 0.9). A unknown object with ID 51 is 5.9 meters away at (-1.4, 5.7). A unknown object with ID 125 is 8.7 meters away at (-4.6, -7.4). A unknown object with ID 110 is 8.9 meters away at (-4.3, -7.8). A vehicle with ID 102 is 9.7 meters away at (0.8, -9.6). A unknown object with ID 58 is 11.4 meters away at (-0.3, -11.4). A vehicle with ID 104 is 13.9 meters away at (7.3, -11.9). A unknown object with ID 82 is 18.7 meters away at (-18.4, 3.1). A vehicle with ID 107 is 19.3 meters away at (-16.7, 9.7).

The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [ 2.3743174 -2.1483464] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [ 1.8254414 -1.324554 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -0.0) m/s. Its current heading (yaw) is -0.01 radians with an angular velocity of -0.01 rad/s.

The most relevant actors are: A unknown object with ID 29 is 6.6 meters away at (0.5, 6.6). A pedestrian with ID 33 is 9.5 meters away at (-9.0, 3.1). A pedestrian with ID 34 is 10.1 meters away at (-8.9, -4.7). A unknown object with ID 25 is 19.0 meters away at (17.4, -7.5). A unknown object with ID 17 is 21.1 meters away at (19.4, -8.2). A vehicle with ID 35 is 21.2 meters away at (-16.7, -13.0). A pedestrian with ID 36 is 36.5 meters away at (35.3, -9.3). A pedestrian with ID 28 is 39.8 meters away at (-39.0, 8.2). A vehicle with ID 37 is 42.0 meters away at (-41.2, -8.4). A vehicle with ID 32 is 44.9 meters away at (-42.2, -15.3).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.2447184  -0.08481409] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3991069   0.60583156] 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 17 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 [ 9.469835  -3.8650758] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.1593683 -0.9242509] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-1.3267641  0.3661113] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -0.4) m/s. Its current heading (yaw) is -0.12 radians with an angular velocity of -0.12 rad/s.

The most relevant actors are: A unknown object with ID 10 is 7.6 meters away at (5.1, -5.7). A unknown object with ID 25 is 13.6 meters away at (11.7, -7.0). A unknown object with ID 17 is 15.7 meters away at (13.6, -7.8). A pedestrian with ID 33 is 17.5 meters away at (-17.0, 3.9). A unknown object with ID 20 is 17.6 meters away at (15.4, -8.6). A pedestrian with ID 34 is 17.8 meters away at (-17.5, -3.0). A unknown object with ID 22 is 19.6 meters away at (17.2, -9.4). A vehicle with ID 35 is 20.9 meters away at (-3.0, -20.6). A pedestrian with ID 36 is 33.7 meters away at (31.9, -10.8). A cyclist with ID 18 is 35.7 meters away at (-35.6, 2.9).

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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.0513978   0.15526292] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2667108   0.53633934] m/s.The unknown object with ID 22 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 [10.436917  -4.4383674] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.245646  -0.9945551] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 5.4166765e-08 -6.4582387e-08] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.3, -1.0) m/s. Its current heading (yaw) is -0.29 radians with an angular velocity of -0.29 rad/s.

The most relevant actors are: A unknown object with ID 10 is 4.5 meters away at (-1.5, -4.3). A unknown object with ID 25 is 7.7 meters away at (5.2, -5.7). A unknown object with ID 17 is 9.5 meters away at (6.9, -6.4). A unknown object with ID 26 is 16.8 meters away at (13.2, -10.3). A pedestrian with ID 34 is 26.8 meters away at (-26.8, -0.6). A pedestrian with ID 36 is 30.0 meters away at (28.0, -10.8). A vehicle with ID 35 is 31.2 meters away at (12.3, -28.7). A vehicle with ID 8 is 33.3 meters away at (-9.1, -32.0). A unknown object with ID 9 is 36.2 meters away at (31.1, -18.4). A vehicle with ID 19 is 54.8 meters away at (-53.1, -13.7).

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 17 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 pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3149536   0.46240392] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 1.3219855 -0.5828434] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [11.355469 -4.867194] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.508317   3.5758786] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -1.4) 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 unknown object with ID 10 is 8.0 meters away at (-7.7, -2.0). A unknown object with ID 26 is 10.6 meters away at (7.0, -8.0). A pedestrian with ID 1 is 22.7 meters away at (21.9, -5.8). A pedestrian with ID 36 is 25.4 meters away at (23.9, -8.5). A vehicle with ID 8 is 38.8 meters away at (-31.1, -23.2). A unknown object with ID 23 is 57.9 meters away at (49.7, -29.7). A vehicle with ID 19 is 61.2 meters away at (-60.1, -11.2).

The unknown object with ID 10 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 pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.02688039  0.2058351 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.95880044 0.20201738] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.0352874  2.8845875] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, -4.8) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A cyclist with ID 4 is 6.7 meters away at (-3.8, -5.5). A pedestrian with ID 15 is 11.9 meters away at (-6.8, -9.8). A vehicle with ID 19 is 11.9 meters away at (-11.8, 1.7). A cyclist with ID 21 is 16.3 meters away at (1.1, -16.2). A pedestrian with ID 13 is 22.9 meters away at (-11.7, -19.7). A vehicle with ID 20 is 28.8 meters away at (-25.2, 13.9).

The cyclist with ID 4 is traveling at a (x, y) velocity of [-0.60072356  0.76469266] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.03509012 -0.00563811] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.05758773 0.03481643] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02909777  0.06745044] m/s.The vehicle with ID 20 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 (5.3, -4.6) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A cyclist with ID 21 is 12.0 meters away at (-9.7, -7.1). A cyclist with ID 4 is 17.0 meters away at (-14.6, 8.7). A pedestrian with ID 15 is 17.6 meters away at (-17.6, -0.5). A pedestrian with ID 13 is 24.7 meters away at (-22.3, -10.6). A vehicle with ID 19 is 25.1 meters away at (-22.6, 11.0). A vehicle with ID 20 is 42.8 meters away at (-36.0, 23.1).

The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.03754536 -0.11227515] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [1.6977812 2.2980535] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.03162977 -0.01035115] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.03658406 -0.01090362] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -5.1) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 21.9 meters away at (-21.8, 2.3). A cyclist with ID 4 is 25.8 meters away at (-18.2, 18.3). A pedestrian with ID 15 is 29.9 meters away at (-28.5, 9.2). A vehicle with ID 8 is 39.5 meters away at (-33.5, 20.9). A vehicle with ID 19 is 39.6 meters away at (-33.6, 20.9). A vehicle with ID 20 is 57.4 meters away at (-47.0, 33.0).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.71924853  0.14590354] m/s.The cyclist with ID 4 is traveling at a (x, y) velocity of [ 4.2878895 -2.3306174] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.00561545 0.00616377] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 (5.4, -4.4) m/s. Its current heading (yaw) is -0.69 radians with an angular velocity of -0.69 rad/s.

The most relevant actors are: A cyclist with ID 4 is 27.7 meters away at (-19.9, 19.2). A pedestrian with ID 11 is 37.2 meters away at (-35.1, 12.3). A pedestrian with ID 15 is 44.0 meters away at (-39.8, 18.8). A vehicle with ID 19 is 54.5 meters away at (-45.1, 30.6). A vehicle with ID 18 is 61.8 meters away at (-0.9, -61.8). A vehicle with ID 20 is 72.2 meters away at (-58.3, 42.6).

The cyclist with ID 4 is traveling at a (x, y) velocity of [ 5.3568535 -5.494993 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0016092  0.2259015] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01958279 -0.01760239] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -2.9) m/s. Its current heading (yaw) is -1.64 radians with an angular velocity of -1.64 rad/s.

The most relevant actors are: A vehicle with ID 56 is 16.3 meters away at (11.9, -11.2). A unknown object with ID 57 is 18.2 meters away at (16.5, -7.6). A cyclist with ID 58 is 36.0 meters away at (-32.5, 15.6). A pedestrian with ID 60 is 54.3 meters away at (-49.0, 23.4). A pedestrian with ID 61 is 57.3 meters away at (-53.8, 19.6). A unknown object with ID 43 is 59.8 meters away at (-55.5, 22.4).

The vehicle with ID 56 is traveling at a (x, y) velocity of [ 7.1931977 -3.1529028] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 58 is traveling at a (x, y) velocity of [0.03975726 0.06114803] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.01445584 0.00384038] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.63354623 -0.4610485 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 56 is 27.7 meters away at (25.0, -11.8). A cyclist with ID 58 is 40.9 meters away at (-34.4, 22.2). A unknown object with ID 42 is 51.9 meters away at (-49.9, 14.4). A pedestrian with ID 61 is 60.0 meters away at (-54.6, 24.9). A unknown object with ID 43 is 64.3 meters away at (-57.2, 29.3). A pedestrian with ID 32 is 66.2 meters away at (64.0, -17.1). A vehicle with ID 38 is 80.6 meters away at (72.2, -35.7).

The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.061778  -3.6437354] m/s.The cyclist with ID 58 is traveling at a (x, y) velocity of [-0.12727514  0.02150257] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.2587664 -1.1399038] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.61923313 -0.42067558] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.4746623 -2.309619 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -2.1) 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 vehicle with ID 56 is 36.8 meters away at (33.8, -14.5). A unknown object with ID 12 is 38.2 meters away at (24.9, -29.0). A unknown object with ID 10 is 39.6 meters away at (26.4, -29.5). A unknown object with ID 9 is 41.1 meters away at (27.9, -30.2). A cyclist with ID 58 is 50.0 meters away at (-42.4, 26.5). A pedestrian with ID 32 is 59.2 meters away at (57.7, -13.2). A pedestrian with ID 61 is 68.2 meters away at (-62.4, 27.4). A cyclist with ID 28 is 70.5 meters away at (-56.0, 42.9). A pedestrian with ID 3 is 72.8 meters away at (68.8, -24.0). A unknown object with ID 43 is 73.5 meters away at (-65.4, 33.4).

The vehicle with ID 56 is traveling at a (x, y) velocity of [ 8.40568  -3.772104] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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.The cyclist with ID 58 is traveling at a (x, y) velocity of [0.00531042 0.09702755] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 0.669136  -1.2144686] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 0.18119739 -0.73198104] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-0.02766618  0.06842285] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1373374  0.1581757] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.6) 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 unknown object with ID 40 is 18.3 meters away at (-0.9, -18.3). A unknown object with ID 51 is 20.0 meters away at (2.9, -19.8). A unknown object with ID 29 is 21.9 meters away at (6.2, -21.0). A unknown object with ID 16 is 24.0 meters away at (8.9, -22.3). A unknown object with ID 14 is 25.8 meters away at (11.2, -23.2). A unknown object with ID 12 is 27.7 meters away at (13.5, -24.2). A unknown object with ID 10 is 29.0 meters away at (14.9, -24.9). A unknown object with ID 9 is 30.3 meters away at (16.4, -25.5). A unknown object with ID 11 is 30.4 meters away at (14.0, -27.0). A vehicle with ID 36 is 31.2 meters away at (19.8, -24.1).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 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.The unknown object with ID 11 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 [-9.035397  4.845528] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 3.3) m/s. Its current heading (yaw) is 2.72 radians with an angular velocity of 2.72 rad/s.

The most relevant actors are: A unknown object with ID 85 is 5.6 meters away at (-2.8, -4.9). A unknown object with ID 87 is 6.1 meters away at (-4.4, -4.2). A unknown object with ID 88 is 6.8 meters away at (-5.7, -3.6). A unknown object with ID 45 is 8.3 meters away at (-5.4, -6.4). A unknown object with ID 91 is 8.4 meters away at (-8.0, -2.6). A unknown object with ID 93 is 10.4 meters away at (-10.3, -1.7). A vehicle with ID 78 is 10.6 meters away at (10.6, 0.5). A unknown object with ID 94 is 13.0 meters away at (-13.0, -0.4). A unknown object with ID 71 is 13.9 meters away at (4.2, -13.2). A unknown object with ID 80 is 14.6 meters away at (6.1, -13.3).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 3.6) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A unknown object with ID 96 is 6.0 meters away at (-0.5, -6.0). A unknown object with ID 103 is 6.2 meters away at (-4.3, -4.5). A unknown object with ID 94 is 7.8 meters away at (2.8, -7.3). A unknown object with ID 107 is 8.5 meters away at (-7.9, -3.0). A unknown object with ID 93 is 10.2 meters away at (5.5, -8.6). A unknown object with ID 91 is 12.3 meters away at (7.8, -9.5). A unknown object with ID 88 is 14.6 meters away at (10.1, -10.5). A unknown object with ID 87 is 16.0 meters away at (11.5, -11.2). A unknown object with ID 45 is 17.0 meters away at (10.6, -13.3). A unknown object with ID 85 is 17.5 meters away at (13.0, -11.8).

The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 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 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 3.8) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A unknown object with ID 107 is 14.1 meters away at (9.2, -10.6). A unknown object with ID 41 is 14.7 meters away at (-14.7, 0.2). A unknown object with ID 103 is 17.7 meters away at (12.9, -12.1). A unknown object with ID 29 is 19.9 meters away at (-19.8, 1.2). A vehicle with ID 6 is 20.3 meters away at (17.3, -10.7). A unknown object with ID 96 is 21.6 meters away at (16.8, -13.6). A unknown object with ID 94 is 25.0 meters away at (20.0, -14.9). A unknown object with ID 93 is 27.9 meters away at (22.8, -16.2). A unknown object with ID 91 is 30.3 meters away at (25.0, -17.1). A unknown object with ID 88 is 32.8 meters away at (27.3, -18.1).

The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 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 6 is traveling at a (x, y) velocity of [-9.732677   4.0898924] m/s.The unknown object with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.8) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A unknown object with ID 29 is 7.0 meters away at (-2.2, -6.6). A unknown object with ID 41 is 8.1 meters away at (2.9, -7.6). A vehicle with ID 24 is 15.5 meters away at (-3.6, 15.1). A vehicle with ID 6 is 17.7 meters away at (14.8, -9.8). A vehicle with ID 61 is 20.8 meters away at (12.4, 16.7). A pedestrian with ID 58 is 24.6 meters away at (-2.4, 24.5). A vehicle with ID 26 is 28.2 meters away at (1.3, 28.1). A vehicle with ID 23 is 30.3 meters away at (-4.4, 30.0). A vehicle with ID 20 is 31.8 meters away at (28.2, -14.8). A unknown object with ID 107 is 32.6 meters away at (27.0, -18.4).

The unknown object with ID 29 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 24 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 [-10.61892     4.5038743] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.5748107  0.6441436] m/s.The vehicle with ID 26 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 20 is traveling at a (x, y) velocity of [-10.399505    3.7652078] m/s.The unknown object with ID 107 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 (5.1, -2.5) m/s. Its current heading (yaw) is -0.46 radians with an angular velocity of -0.46 rad/s.

The most relevant actors are: A unknown object with ID 22 is 11.7 meters away at (11.7, -0.3). A unknown object with ID 24 is 12.7 meters away at (12.7, 0.8). A vehicle with ID 31 is 17.5 meters away at (-13.9, 10.6). A vehicle with ID 35 is 20.6 meters away at (-18.3, -9.6). A vehicle with ID 26 is 21.3 meters away at (-21.1, -3.0). A vehicle with ID 29 is 23.0 meters away at (-17.9, -14.4). A unknown object with ID 34 is 24.0 meters away at (-9.2, 22.2). A vehicle with ID 39 is 25.0 meters away at (4.8, 24.5). A vehicle with ID 23 is 25.2 meters away at (-23.1, -10.0). A vehicle with ID 30 is 26.6 meters away at (-25.4, -7.9).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.2266537 -2.9070015] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [3.3638988 3.6285906] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-4.559976  -5.3477564] m/s.The vehicle with ID 30 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, -5.3) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A unknown object with ID 22 is 8.4 meters away at (1.2, 8.3). A unknown object with ID 24 is 9.7 meters away at (2.2, 9.4). A unknown object with ID 12 is 16.4 meters away at (0.2, -16.4). A vehicle with ID 35 is 23.5 meters away at (-22.9, 5.3). A vehicle with ID 18 is 24.0 meters away at (-23.6, 4.8). A vehicle with ID 6 is 26.5 meters away at (-15.7, -21.4). A vehicle with ID 31 is 27.1 meters away at (-23.6, 13.2). A vehicle with ID 8 is 28.1 meters away at (28.0, -2.6). A vehicle with ID 25 is 29.4 meters away at (26.5, -12.7). A vehicle with ID 39 is 33.6 meters away at (-5.6, 33.2).

The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 [2.6963904 2.7576153] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [2.3033502 2.3864675] m/s.The vehicle with ID 6 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 [-0.62048805 -2.8583252 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, -4.7) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A unknown object with ID 19 is 8.2 meters away at (-5.0, -6.5). A unknown object with ID 12 is 11.5 meters away at (-9.7, -6.2). A vehicle with ID 25 is 16.8 meters away at (16.6, -2.5). A vehicle with ID 8 is 19.8 meters away at (18.2, 7.7). A unknown object with ID 22 is 20.4 meters away at (-8.6, 18.5). A unknown object with ID 24 is 21.1 meters away at (-7.7, 19.7). A vehicle with ID 27 is 21.2 meters away at (20.4, -5.7). A vehicle with ID 32 is 26.7 meters away at (25.0, -9.5). A vehicle with ID 6 is 28.0 meters away at (-25.7, -11.1). A vehicle with ID 42 is 32.3 meters away at (29.3, -13.6).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 6 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.8) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A vehicle with ID 25 is 10.2 meters away at (8.9, 5.0). A unknown object with ID 19 is 12.5 meters away at (-12.4, 1.1). A vehicle with ID 27 is 12.8 meters away at (12.7, 1.8). A vehicle with ID 32 is 17.3 meters away at (17.2, -2.0). A vehicle with ID 42 is 22.4 meters away at (21.6, -6.0). A vehicle with ID 1 is 27.0 meters away at (13.8, -23.2). A unknown object with ID 22 is 30.7 meters away at (-16.4, 26.0). A unknown object with ID 24 is 31.2 meters away at (-15.4, 27.2). A vehicle with ID 3 is 38.0 meters away at (34.1, -17.0). A vehicle with ID 4 is 45.8 meters away at (38.5, -24.8).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.335072  7.07793 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.8) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 14 is 28.3 meters away at (-26.8, -9.4). A pedestrian with ID 49 is 30.1 meters away at (-24.7, -17.3). A unknown object with ID 39 is 34.8 meters away at (-33.5, -9.1). A unknown object with ID 50 is 38.2 meters away at (-17.2, -34.1). A unknown object with ID 30 is 41.8 meters away at (-33.6, -24.8). A pedestrian with ID 51 is 44.3 meters away at (-44.3, -0.4). A vehicle with ID 52 is 45.0 meters away at (-39.3, -21.8). A pedestrian with ID 54 is 45.1 meters away at (-45.1, -0.8). A pedestrian with ID 53 is 45.2 meters away at (-45.1, -3.6). A pedestrian with ID 46 is 46.2 meters away at (-46.2, 0.3).

The vehicle with ID 14 is traveling at a (x, y) velocity of [2.1482742 2.7632678] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.2427833  -0.28434694] 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [0.02935271 0.00973558] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.05177679 -0.05070479] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.13956358  0.32966277] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.04641593 -0.02534767] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 3.4) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 14 is 18.2 meters away at (-16.4, -8.1). A pedestrian with ID 51 is 39.1 meters away at (-38.7, -5.3). A pedestrian with ID 54 is 39.3 meters away at (-38.8, -6.5). A unknown object with ID 50 is 40.3 meters away at (-11.9, -38.5). A pedestrian with ID 53 is 40.8 meters away at (-40.1, -7.5). A pedestrian with ID 46 is 41.3 meters away at (-41.1, -4.0). A pedestrian with ID 47 is 42.7 meters away at (-42.3, -5.2). A vehicle with ID 52 is 43.1 meters away at (-34.2, -26.2). A vehicle with ID 48 is 44.2 meters away at (-43.3, -9.3). A pedestrian with ID 56 is 44.3 meters away at (-43.8, -6.8).

The vehicle with ID 14 is traveling at a (x, y) velocity of [2.4637392 2.5661352] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.56534684 -0.56513244] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.79068005 -0.51997   ] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.12105381  0.15511855] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.00338242 -0.02500614] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.6829568 -0.5305109] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.7127659   0.29354677] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 14 is 12.4 meters away at (-3.1, -12.0). A unknown object with ID 42 is 29.0 meters away at (-19.0, -21.9). A unknown object with ID 43 is 30.0 meters away at (-19.5, -22.8). A pedestrian with ID 51 is 31.0 meters away at (-27.0, -15.3). A pedestrian with ID 54 is 31.8 meters away at (-27.3, -16.3). A vehicle with ID 15 is 33.4 meters away at (-22.8, 24.3). A pedestrian with ID 46 is 34.0 meters away at (-31.6, -12.5). A pedestrian with ID 53 is 34.9 meters away at (-31.5, -14.9). A pedestrian with ID 47 is 36.2 meters away at (-33.6, -13.5). A vehicle with ID 48 is 38.1 meters away at (-33.9, -17.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [1.1965864 1.6709534] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 1.1778679 -0.6612284] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 1.0974383 -0.7754161] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 0.02375335 -0.08198948] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.5964644   0.78820914] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.77127635 -0.31237057] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.7) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 15 is 17.4 meters away at (-10.7, 13.7). A vehicle with ID 14 is 21.9 meters away at (10.8, -19.0). A pedestrian with ID 46 is 30.4 meters away at (-20.6, -22.3). A vehicle with ID 12 is 30.4 meters away at (-25.0, 17.4). A pedestrian with ID 54 is 32.0 meters away at (-13.4, -29.1). A pedestrian with ID 53 is 32.3 meters away at (-21.0, -24.6). A pedestrian with ID 47 is 32.9 meters away at (-23.2, -23.4). A pedestrian with ID 56 is 34.1 meters away at (-23.3, -24.9). A vehicle with ID 48 is 35.6 meters away at (-21.7, -28.2). A vehicle with ID 10 is 39.5 meters away at (-36.2, -15.8).

The vehicle with ID 15 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 [0.5425403 2.6687753] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.95197123  0.5890868 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 4.812965  -4.3314404] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.86891824 -1.1027181 ] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.8594259   0.06534949] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.482187   0.4186779] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [0.2900465  0.05368772] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.2) 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 vehicle with ID 20 is 4.0 meters away at (-3.8, -1.1). A vehicle with ID 18 is 4.8 meters away at (-1.6, 4.5). A pedestrian with ID 5 is 15.9 meters away at (15.9, 0.6). A vehicle with ID 26 is 16.7 meters away at (3.1, 16.4). A pedestrian with ID 35 is 19.4 meters away at (-19.0, -3.9). A pedestrian with ID 29 is 22.3 meters away at (-21.9, 4.3). A pedestrian with ID 24 is 25.1 meters away at (-9.2, 23.3). A unknown object with ID 34 is 28.3 meters away at (-3.5, 28.1). A unknown object with ID 39 is 31.8 meters away at (21.6, 23.4). A vehicle with ID 33 is 35.5 meters away at (-35.4, -3.0).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.06976151 -1.0021237 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.9278437 -2.1342623] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.0140851 -1.2867084] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.44000688 -0.8585925 ] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.43923444 -1.2586279 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 [ 3.50061  -1.627778] 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 -2.01 radians with an angular velocity of -2.01 rad/s.

The most relevant actors are: A vehicle with ID 20 is 3.5 meters away at (-3.5, -0.4). A vehicle with ID 18 is 5.3 meters away at (-1.2, 5.2). A unknown object with ID 17 is 7.6 meters away at (-7.2, -2.4). A unknown object with ID 19 is 10.2 meters away at (-10.0, -2.2). A vehicle with ID 26 is 14.1 meters away at (2.1, 13.9). A pedestrian with ID 5 is 16.9 meters away at (16.9, -0.7). A pedestrian with ID 35 is 20.3 meters away at (-19.3, -6.4). A pedestrian with ID 29 is 20.7 meters away at (-20.5, 3.3). A pedestrian with ID 21 is 20.8 meters away at (-15.2, 14.2). A unknown object with ID 34 is 28.9 meters away at (-3.2, 28.8).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.33349353 -0.85863423] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.3395623 -0.9130461] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.22233544 -1.4795203 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.775916  -0.8251764] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.37274823 -1.1618255 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.01 radians with an angular velocity of -2.01 rad/s.

The most relevant actors are: A vehicle with ID 20 is 3.5 meters away at (-3.4, -0.3). A vehicle with ID 18 is 5.4 meters away at (-1.2, 5.3). A unknown object with ID 17 is 7.6 meters away at (-7.2, -2.3). A unknown object with ID 19 is 10.1 meters away at (-9.9, -2.0). A vehicle with ID 26 is 13.3 meters away at (1.8, 13.2). A pedestrian with ID 5 is 17.8 meters away at (17.6, -2.5). A cyclist with ID 32 is 18.2 meters away at (-15.3, -9.8). A pedestrian with ID 29 is 19.2 meters away at (-19.2, 1.8). A pedestrian with ID 21 is 20.0 meters away at (-16.1, 11.9). A pedestrian with ID 35 is 21.9 meters away at (-19.8, -9.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.47757313 -0.904499  ] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [2.8413901 7.566941 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.62312895 -0.94725096] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.6334769 -1.3080511] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.291664  -1.4849006] 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 -2.01 radians with an angular velocity of -2.01 rad/s.

The most relevant actors are: A vehicle with ID 20 is 3.4 meters away at (-3.4, -0.3). A vehicle with ID 18 is 5.4 meters away at (-1.2, 5.3). A unknown object with ID 17 is 7.5 meters away at (-7.2, -2.2). A unknown object with ID 19 is 10.1 meters away at (-9.9, -2.0). A cyclist with ID 32 is 11.1 meters away at (-8.2, 7.5). A vehicle with ID 26 is 13.3 meters away at (1.8, 13.2). A pedestrian with ID 29 is 18.1 meters away at (-18.1, 0.1). A vehicle with ID 36 is 18.6 meters away at (-0.4, -18.6). A pedestrian with ID 5 is 19.0 meters away at (18.4, -4.4). A pedestrian with ID 21 is 19.8 meters away at (-17.5, 9.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [3.8306072 8.915732 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.3993481 -1.3375026] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [7.1725516  0.25431308] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.44023183 -0.91608596] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.695094  -1.2795285] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.0) 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 44 is 5.0 meters away at (4.9, 0.9). A unknown object with ID 43 is 12.3 meters away at (10.2, -6.9). A vehicle with ID 42 is 15.0 meters away at (-12.8, 7.7). A vehicle with ID 46 is 22.3 meters away at (-19.9, 10.1). A vehicle with ID 28 is 29.0 meters away at (-3.3, -28.8). A vehicle with ID 47 is 36.1 meters away at (33.7, -12.9). A vehicle with ID 45 is 38.1 meters away at (9.8, 36.8). A vehicle with ID 27 is 38.1 meters away at (-14.7, -35.1). A vehicle with ID 62 is 38.3 meters away at (-9.9, -37.0). A vehicle with ID 48 is 42.2 meters away at (39.5, -14.6).

The vehicle with ID 44 is traveling at a (x, y) velocity of [1.9202563 5.720206 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 0.3086497  -0.32413447] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 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 62 is traveling at a (x, y) velocity of [2.9061012 7.6132936] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.7) 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 62 is 7.9 meters away at (0.9, -7.8). A vehicle with ID 28 is 15.4 meters away at (1.5, -15.3). A unknown object with ID 43 is 16.3 meters away at (14.9, 6.7). A vehicle with ID 42 is 22.8 meters away at (-8.1, 21.3). A vehicle with ID 27 is 23.7 meters away at (-10.0, -21.5). A vehicle with ID 46 is 28.1 meters away at (-15.1, 23.7). A pedestrian with ID 35 is 30.6 meters away at (0.6, -30.6). A vehicle with ID 44 is 32.2 meters away at (14.3, 28.9). A vehicle with ID 37 is 38.0 meters away at (-26.7, -27.0). A vehicle with ID 26 is 39.2 meters away at (-14.8, -36.3).

The vehicle with ID 62 is traveling at a (x, y) velocity of [3.0477087 7.7678833] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00301876 -0.00668766] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [2.8363712 8.588662 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.5) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A vehicle with ID 28 is 6.1 meters away at (5.7, -2.2). A vehicle with ID 27 is 10.2 meters away at (-5.7, -8.5). A vehicle with ID 62 is 23.6 meters away at (10.9, 20.9). A vehicle with ID 26 is 25.5 meters away at (-10.5, -23.2). A vehicle with ID 37 is 26.5 meters away at (-22.5, -14.0). A vehicle with ID 36 is 27.3 meters away at (-5.9, -26.7). A vehicle with ID 25 is 31.5 meters away at (-12.6, -28.9). A pedestrian with ID 24 is 39.8 meters away at (-3.0, -39.7). A vehicle with ID 2 is 42.9 meters away at (-8.2, -42.1). A vehicle with ID 1 is 49.2 meters away at (-10.5, -48.1).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [2.7516465 7.8350224] m/s.The vehicle with ID 26 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 36 is traveling at a (x, y) velocity of [3.2277734 8.64934  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.34428987 -1.4413122 ] 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 (-2.2, -7.0) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A vehicle with ID 27 is 4.9 meters away at (-1.3, 4.7). A vehicle with ID 36 is 5.8 meters away at (4.5, 3.6). A vehicle with ID 31 is 5.8 meters away at (4.5, 3.6). A vehicle with ID 26 is 11.6 meters away at (-6.1, -9.9). A vehicle with ID 28 is 14.9 meters away at (10.1, 11.0). A vehicle with ID 25 is 17.5 meters away at (-8.2, -15.4). A vehicle with ID 37 is 18.1 meters away at (-18.0, -0.6). A vehicle with ID 2 is 28.9 meters away at (-3.9, -28.7). A pedestrian with ID 24 is 28.9 meters away at (0.7, -28.9). A vehicle with ID 34 is 34.9 meters away at (-32.7, 12.1).

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 [2.8125806 8.066255 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.7803948 8.1335535] m/s.The vehicle with ID 26 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 25 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.47232056 -1.273224  ] 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 (-0.5, 0.8) m/s. Its current heading (yaw) is 2.12 radians with an angular velocity of 2.12 rad/s.

The most relevant actors are: A vehicle with ID 24 is 3.9 meters away at (3.9, 0.7). A vehicle with ID 27 is 6.8 meters away at (-0.9, 6.8). A vehicle with ID 30 is 8.2 meters away at (-4.9, 6.6). A vehicle with ID 26 is 9.3 meters away at (7.8, -5.0). A vehicle with ID 39 is 10.6 meters away at (-10.5, -1.1). A vehicle with ID 38 is 15.3 meters away at (-8.7, 12.6). A vehicle with ID 28 is 15.5 meters away at (0.5, -15.5). A vehicle with ID 33 is 15.6 meters away at (11.7, -10.3). A vehicle with ID 47 is 16.6 meters away at (-14.2, 8.6). A unknown object with ID 6 is 21.9 meters away at (-9.9, -19.6).

The vehicle with ID 24 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 30 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 39 is traveling at a (x, y) velocity of [ 6.671564 -7.999529] m/s.The vehicle with ID 38 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 [ 5.6053267 -8.183878 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 6.1138616 -8.02826  ] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.15 radians with an angular velocity of 2.15 rad/s.

The most relevant actors are: A vehicle with ID 24 is 4.1 meters away at (4.0, 0.4). A vehicle with ID 27 is 6.6 meters away at (-0.7, 6.5). A vehicle with ID 47 is 7.2 meters away at (-2.2, -6.9). A vehicle with ID 30 is 7.8 meters away at (-4.7, 6.3). A vehicle with ID 26 is 9.6 meters away at (8.0, -5.3). A vehicle with ID 38 is 15.0 meters away at (-8.5, 12.3). A vehicle with ID 33 is 15.9 meters away at (11.9, -10.6). A vehicle with ID 39 is 17.6 meters away at (3.2, -17.3). A vehicle with ID 40 is 22.3 meters away at (15.7, -15.9). A unknown object with ID 45 is 23.7 meters away at (-11.2, -20.8).

The vehicle with ID 24 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 47 is traveling at a (x, y) velocity of [ 5.67631   -7.7923284] m/s.The vehicle with ID 30 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 38 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 39 is traveling at a (x, y) velocity of [ 6.759723 -8.06152 ] m/s.The vehicle with ID 40 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.15 radians with an angular velocity of 2.15 rad/s.

The most relevant actors are: A vehicle with ID 24 is 4.0 meters away at (4.0, 0.4). A vehicle with ID 27 is 6.5 meters away at (-0.7, 6.5). A vehicle with ID 30 is 7.8 meters away at (-4.7, 6.2). A vehicle with ID 26 is 9.6 meters away at (8.0, -5.3). A vehicle with ID 60 is 13.6 meters away at (6.1, -12.2). A vehicle with ID 38 is 14.9 meters away at (-8.5, 12.3). A vehicle with ID 33 is 15.9 meters away at (11.9, -10.6). A vehicle with ID 40 is 22.3 meters away at (15.6, -15.9). A unknown object with ID 45 is 23.8 meters away at (-11.2, -21.0). A vehicle with ID 47 is 25.0 meters away at (9.5, -23.1).

The vehicle with ID 24 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 30 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 60 is traveling at a (x, y) velocity of [-5.9533863  6.8887773] m/s.The vehicle with ID 38 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 6.0538526 -8.352214 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.15 radians with an angular velocity of 2.15 rad/s.

The most relevant actors are: A vehicle with ID 60 is 3.3 meters away at (-3.1, -1.1). A vehicle with ID 24 is 4.1 meters away at (4.0, 0.4). A vehicle with ID 27 is 6.6 meters away at (-0.8, 6.6). A vehicle with ID 30 is 7.8 meters away at (-4.7, 6.2). A vehicle with ID 26 is 9.6 meters away at (8.0, -5.3). A vehicle with ID 38 is 15.0 meters away at (-8.6, 12.3). A vehicle with ID 33 is 15.9 meters away at (11.9, -10.6). A unknown object with ID 10 is 16.7 meters away at (-13.4, -10.0). A vehicle with ID 40 is 22.3 meters away at (15.7, -15.9). A vehicle with ID 23 is 22.5 meters away at (11.4, -19.4).

The vehicle with ID 60 is traveling at a (x, y) velocity of [-3.3429117  4.1598864] m/s.The vehicle with ID 24 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 30 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 38 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 unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-5.469984   7.0681562] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.60 radians with an angular velocity of 2.60 rad/s.

The most relevant actors are: A unknown object with ID 91 is 12.7 meters away at (12.1, -4.0). A vehicle with ID 99 is 14.4 meters away at (-4.9, -13.5). A vehicle with ID 98 is 14.4 meters away at (-7.3, -12.4). A vehicle with ID 97 is 14.6 meters away at (-9.4, -11.1). A vehicle with ID 96 is 15.0 meters away at (-11.8, -9.3). A vehicle with ID 100 is 15.6 meters away at (-2.8, -15.3). A vehicle with ID 95 is 16.2 meters away at (-14.2, -7.9). A vehicle with ID 102 is 17.0 meters away at (0.1, -17.0). A vehicle with ID 94 is 17.9 meters away at (-16.6, -6.6). A vehicle with ID 101 is 20.5 meters away at (3.7, -20.2).

The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) m/s. Its current heading (yaw) is 2.60 radians with an angular velocity of 2.60 rad/s.

The most relevant actors are: A vehicle with ID 97 is 14.5 meters away at (-8.1, -12.0). A vehicle with ID 98 is 14.5 meters away at (-6.0, -13.2). A vehicle with ID 96 is 14.6 meters away at (-10.5, -10.1). A vehicle with ID 99 is 14.8 meters away at (-3.6, -14.3). A vehicle with ID 95 is 15.6 meters away at (-12.9, -8.7). A vehicle with ID 100 is 16.2 meters away at (-1.5, -16.2). A vehicle with ID 94 is 17.0 meters away at (-15.2, -7.4). A vehicle with ID 102 is 17.9 meters away at (1.4, -17.9). A vehicle with ID 93 is 20.2 meters away at (-19.8, -4.2). A vehicle with ID 65 is 21.4 meters away at (5.3, -20.7).

The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-2.2, 1.3) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 96 is 14.2 meters away at (-8.7, -11.2). A vehicle with ID 97 is 14.5 meters away at (-6.3, -13.1). A vehicle with ID 95 is 14.7 meters away at (-11.0, -9.8). A vehicle with ID 98 is 14.9 meters away at (-4.1, -14.3). A vehicle with ID 99 is 15.5 meters away at (-1.8, -15.4). A vehicle with ID 94 is 15.9 meters away at (-13.4, -8.5). A unknown object with ID 45 is 16.4 meters away at (15.3, -5.9). A vehicle with ID 100 is 17.2 meters away at (0.4, -17.2). A vehicle with ID 93 is 18.7 meters away at (-18.0, -5.3). A vehicle with ID 102 is 19.2 meters away at (3.3, -18.9).

The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 2.8) m/s. Its current heading (yaw) is 2.63 radians with an angular velocity of 2.63 rad/s.

The most relevant actors are: A vehicle with ID 94 is 14.0 meters away at (-6.2, -12.6). A vehicle with ID 93 is 14.2 meters away at (-10.7, -9.3). A vehicle with ID 95 is 14.4 meters away at (-3.7, -13.9). A vehicle with ID 96 is 15.3 meters away at (-1.5, -15.3). A vehicle with ID 97 is 17.2 meters away at (1.0, -17.1). A vehicle with ID 98 is 18.6 meters away at (3.1, -18.3). A vehicle with ID 31 is 18.7 meters away at (-16.8, -8.3). A vehicle with ID 99 is 20.3 meters away at (5.5, -19.5). A vehicle with ID 100 is 22.7 meters away at (7.7, -21.3). A vehicle with ID 102 is 25.4 meters away at (10.6, -23.0).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 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 (3.2, -2.8) m/s. Its current heading (yaw) is -0.73 radians with an angular velocity of -0.73 rad/s.

The most relevant actors are: A vehicle with ID 18 is 4.5 meters away at (4.4, 1.0). A vehicle with ID 15 is 4.9 meters away at (-0.4, 4.9). A unknown object with ID 16 is 7.8 meters away at (-7.7, -0.6). A vehicle with ID 17 is 10.4 meters away at (-5.1, 9.1). A vehicle with ID 14 is 11.0 meters away at (-10.4, 3.6). A unknown object with ID 19 is 12.9 meters away at (11.6, -5.7). A vehicle with ID 20 is 18.7 meters away at (-11.5, 14.7). A pedestrian with ID 6 is 25.2 meters away at (-13.8, -21.1). A vehicle with ID 21 is 30.5 meters away at (-25.6, 16.5). A vehicle with ID 22 is 37.0 meters away at (-30.6, 20.8).

The vehicle with ID 18 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8133222 -1.2391539] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.4) m/s. Its current heading (yaw) is -0.68 radians with an angular velocity of -0.68 rad/s.

The most relevant actors are: A unknown object with ID 19 is 5.4 meters away at (5.4, -0.8). A vehicle with ID 18 is 6.1 meters away at (-1.6, 5.8). A vehicle with ID 15 is 11.3 meters away at (-6.2, 9.5). A unknown object with ID 16 is 14.6 meters away at (-13.9, 4.3). A vehicle with ID 17 is 18.1 meters away at (-11.3, 14.1). A vehicle with ID 14 is 18.7 meters away at (-16.6, 8.6). A vehicle with ID 20 is 26.6 meters away at (-17.8, 19.7). A pedestrian with ID 6 is 26.7 meters away at (-19.3, -18.6). A vehicle with ID 21 is 38.4 meters away at (-31.8, 21.5). A vehicle with ID 22 is 45.0 meters away at (-36.9, 25.9).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.29584795 -1.2858291 ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.9) m/s. Its current heading (yaw) is -1.25 radians with an angular velocity of -1.25 rad/s.

The most relevant actors are: A unknown object with ID 19 is 4.6 meters away at (1.3, 4.5). A vehicle with ID 18 is 12.5 meters away at (-5.8, 11.1). A vehicle with ID 15 is 18.0 meters away at (-10.4, 14.7). A unknown object with ID 16 is 20.4 meters away at (-18.1, 9.5). A vehicle with ID 17 is 24.6 meters away at (-15.5, 19.2). A vehicle with ID 14 is 25.0 meters away at (-20.8, 13.8). A pedestrian with ID 6 is 28.4 meters away at (-23.4, -16.0). A vehicle with ID 20 is 33.2 meters away at (-22.0, 24.9). A vehicle with ID 21 is 44.9 meters away at (-36.2, 26.7). A vehicle with ID 22 is 51.4 meters away at (-41.1, 30.9).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.40924913 -1.2059897 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -2.8) 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 unknown object with ID 19 is 10.5 meters away at (0.9, 10.4). A vehicle with ID 18 is 18.1 meters away at (-6.1, 17.0). A vehicle with ID 15 is 23.2 meters away at (-10.7, 20.6). A unknown object with ID 16 is 24.1 meters away at (-18.4, 15.5). A vehicle with ID 14 is 28.9 meters away at (-21.1, 19.7). A vehicle with ID 17 is 29.7 meters away at (-15.8, 25.2). A vehicle with ID 20 is 38.1 meters away at (-22.3, 30.9). A vehicle with ID 21 is 48.9 meters away at (-36.5, 32.6). A vehicle with ID 22 is 55.4 meters away at (-41.6, 36.6). A vehicle with ID 24 is 67.8 meters away at (-45.1, 50.6).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 (-0.2, 0.2) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.4, 1.8). A vehicle with ID 17 is 5.4 meters away at (-0.3, 5.3). A vehicle with ID 21 is 8.0 meters away at (-6.1, 5.1). A vehicle with ID 20 is 10.5 meters away at (-4.9, 9.3). A pedestrian with ID 24 is 17.1 meters away at (-16.4, -4.9). A vehicle with ID 23 is 17.7 meters away at (-10.8, 14.1). A vehicle with ID 26 is 18.6 meters away at (16.6, -8.3). A vehicle with ID 30 is 21.1 meters away at (-16.4, 13.2). A vehicle with ID 29 is 24.2 meters away at (-16.0, 18.2). A vehicle with ID 34 is 26.7 meters away at (23.0, -13.4).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9972663 -0.9505225] m/s.The vehicle with ID 23 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.2, 5.2). A vehicle with ID 21 is 8.0 meters away at (-6.1, 5.1). A vehicle with ID 20 is 10.4 meters away at (-4.8, 9.2). A pedestrian with ID 24 is 15.8 meters away at (-14.3, -6.7). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.7 meters away at (16.7, -8.5). A vehicle with ID 30 is 20.9 meters away at (-16.3, 13.1). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9793122 -0.6660685] m/s.The vehicle with ID 23 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.1, 5.2). A vehicle with ID 21 is 8.2 meters away at (-6.3, 5.2). A vehicle with ID 20 is 10.3 meters away at (-4.7, 9.2). A pedestrian with ID 24 is 14.7 meters away at (-12.3, -8.1). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.7 meters away at (16.7, -8.5). A vehicle with ID 30 is 21.3 meters away at (-16.6, 13.4). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.9732534  -0.79573554] m/s.The vehicle with ID 23 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 18 is 4.8 meters away at (4.5, 1.7). A vehicle with ID 17 is 5.2 meters away at (-0.1, 5.2). A vehicle with ID 21 is 8.7 meters away at (-6.7, 5.6). A vehicle with ID 20 is 10.3 meters away at (-4.8, 9.2). A pedestrian with ID 24 is 14.2 meters away at (-10.3, -9.8). A vehicle with ID 23 is 17.5 meters away at (-10.6, 13.9). A vehicle with ID 26 is 18.8 meters away at (16.7, -8.5). A vehicle with ID 30 is 21.8 meters away at (-17.0, 13.7). A vehicle with ID 29 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 34 is 26.8 meters away at (23.1, -13.6).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-0.31474388  0.25047842] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.97908115 -0.79965085] m/s.The vehicle with ID 23 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.