The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, -4.8) m/s. Its current heading (yaw) is -2.53 radians with an angular velocity of -2.53 rad/s.

The most relevant actors are: A vehicle with ID 40 is 12.7 meters away at (-12.7, -0.6). A vehicle with ID 44 is 22.4 meters away at (-17.9, 13.6). A vehicle with ID 41 is 24.0 meters away at (-4.4, 23.6). A vehicle with ID 42 is 34.1 meters away at (8.4, 33.0). A pedestrian with ID 33 is 35.3 meters away at (-32.3, 14.3). A unknown object with ID 20 is 43.7 meters away at (38.1, 21.5). A pedestrian with ID 45 is 50.6 meters away at (40.7, 30.1). A vehicle with ID 47 is 62.1 meters away at (21.0, 58.4). A vehicle with ID 48 is 71.3 meters away at (70.0, 13.5). A vehicle with ID 28 is 74.5 meters away at (25.5, 70.0).

The vehicle with ID 40 is traveling at a (x, y) velocity of [-10.950048  -7.375973] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.0276834 0.7315269] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.1601302  -0.00905478] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.75528246  0.81876576] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 6.306621   -0.77281547] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -5.0) m/s. Its current heading (yaw) is -2.56 radians with an angular velocity of -2.56 rad/s.

The most relevant actors are: A vehicle with ID 40 is 22.2 meters away at (-21.4, -6.0). A vehicle with ID 44 is 24.4 meters away at (-2.5, 24.2). A pedestrian with ID 33 is 29.2 meters away at (-15.9, 24.5). A vehicle with ID 41 is 35.2 meters away at (10.2, 33.7). A unknown object with ID 35 is 40.0 meters away at (-31.6, -24.5). A unknown object with ID 24 is 41.0 meters away at (-33.3, -23.8). A pedestrian with ID 29 is 42.8 meters away at (-33.6, -26.4). A unknown object with ID 22 is 43.0 meters away at (-35.1, -24.8). A vehicle with ID 42 is 48.9 meters away at (23.0, 43.1). A unknown object with ID 20 is 61.4 meters away at (52.7, 31.6).

The vehicle with ID 40 is traveling at a (x, y) velocity of [-12.378971  -8.026096] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.8803324 0.5712727] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [ 0.00355708 -0.00258111] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -5.1) m/s. Its current heading (yaw) is -2.58 radians with an angular velocity of -2.58 rad/s.

The most relevant actors are: A unknown object with ID 35 is 21.3 meters away at (-15.3, -14.8). A unknown object with ID 21 is 21.3 meters away at (-15.8, -14.4). A unknown object with ID 36 is 21.6 meters away at (-14.5, -15.9). A unknown object with ID 24 is 22.3 meters away at (-17.5, -13.8). A unknown object with ID 32 is 23.5 meters away at (-16.1, -17.2). A pedestrian with ID 29 is 24.3 meters away at (-17.9, -16.4). A unknown object with ID 22 is 24.3 meters away at (-19.3, -14.7). A vehicle with ID 40 is 33.9 meters away at (-31.6, -12.3). A pedestrian with ID 33 is 35.9 meters away at (1.5, 35.9). A vehicle with ID 44 is 37.0 meters away at (13.4, 34.5).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 32 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 [-0.08165774  0.05205322] m/s.The unknown object with ID 22 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 [-13.637556  -8.504438] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.84267783 0.6388131 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -5.0) m/s. Its current heading (yaw) is -2.59 radians with an angular velocity of -2.59 rad/s.

The most relevant actors are: A unknown object with ID 24 is 3.9 meters away at (-1.5, -3.6). A unknown object with ID 21 is 4.2 meters away at (0.2, -4.2). A unknown object with ID 22 is 5.7 meters away at (-3.2, -4.6). A unknown object with ID 36 is 6.0 meters away at (1.5, -5.8). A pedestrian with ID 29 is 6.4 meters away at (-1.8, -6.2). A unknown object with ID 32 is 7.2 meters away at (-0.0, -7.2). A vehicle with ID 40 is 47.7 meters away at (-43.5, -19.7). A pedestrian with ID 33 is 51.1 meters away at (19.4, 47.3). A vehicle with ID 44 is 53.6 meters away at (29.6, 44.7). A vehicle with ID 30 is 63.3 meters away at (-60.8, -17.6).

The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 [ 0.03593669 -0.00220639] m/s.The unknown object with ID 32 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 [-14.203421  -8.992521] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [0.9596792  0.76429194] m/s.The vehicle with ID 44 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 [13.326386  8.740856] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 0.7) m/s. Its current heading (yaw) is 2.98 radians with an angular velocity of 2.98 rad/s.

The most relevant actors are: A vehicle with ID 38 is 11.9 meters away at (-7.3, 9.5). A vehicle with ID 40 is 12.7 meters away at (-12.7, 0.2). A vehicle with ID 42 is 19.8 meters away at (-15.0, -12.9). A vehicle with ID 44 is 20.7 meters away at (-17.2, -11.5). A vehicle with ID 39 is 20.9 meters away at (14.8, -14.7). A vehicle with ID 46 is 22.5 meters away at (-21.0, -8.2). A vehicle with ID 37 is 23.2 meters away at (21.9, 7.5). A vehicle with ID 48 is 23.5 meters away at (-22.7, -6.2). A unknown object with ID 49 is 26.6 meters away at (-16.0, -21.2). A vehicle with ID 41 is 28.9 meters away at (23.8, -16.4).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.8, 4.0) 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 38 is 4.5 meters away at (1.7, 4.2). A vehicle with ID 40 is 6.3 meters away at (-3.8, -5.0). A vehicle with ID 48 is 17.9 meters away at (-13.7, -11.4). A vehicle with ID 46 is 18.1 meters away at (-12.0, -13.5). A vehicle with ID 44 is 18.9 meters away at (-8.4, -16.9). A vehicle with ID 42 is 19.1 meters away at (-6.1, -18.1). A unknown object with ID 49 is 27.4 meters away at (-7.1, -26.5). A vehicle with ID 51 is 29.5 meters away at (-17.3, -23.8). A vehicle with ID 37 is 31.1 meters away at (31.0, 2.1). A vehicle with ID 39 is 31.2 meters away at (23.8, -20.2).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 (-6.5, 5.7) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 38 is 14.2 meters away at (12.9, -5.9). A vehicle with ID 40 is 16.6 meters away at (7.3, -14.9). A vehicle with ID 48 is 21.6 meters away at (-2.7, -21.4). A vehicle with ID 46 is 23.4 meters away at (-0.9, -23.4). A vehicle with ID 44 is 27.0 meters away at (2.7, -26.9). A vehicle with ID 42 is 28.5 meters away at (5.0, -28.1). A pedestrian with ID 10 is 28.9 meters away at (-14.2, 25.2). A vehicle with ID 51 is 34.3 meters away at (-6.2, -33.7). A unknown object with ID 49 is 36.8 meters away at (4.1, -36.5). A vehicle with ID 56 is 39.2 meters away at (-13.0, -37.0).

The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.00835203 -0.0819415 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 6.5) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A pedestrian with ID 10 is 12.1 meters away at (0.7, 12.1). A vehicle with ID 29 is 21.1 meters away at (-19.0, -9.1). A vehicle with ID 17 is 28.3 meters away at (-24.5, -14.3). A vehicle with ID 36 is 29.9 meters away at (-28.1, 10.4). A vehicle with ID 16 is 32.2 meters away at (-27.8, 16.2). A vehicle with ID 38 is 33.0 meters away at (27.3, -18.5). A vehicle with ID 40 is 34.8 meters away at (21.5, -27.4). A vehicle with ID 48 is 35.8 meters away at (11.6, -33.8). A vehicle with ID 46 is 38.3 meters away at (13.6, -35.8). A vehicle with ID 5 is 38.4 meters away at (-26.1, 28.1).

The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 0.05954476 -0.09625621] m/s.The vehicle with ID 29 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 9.903242 -8.651707] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.3) 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 vehicle with ID 1 is 9.8 meters away at (-8.1, -5.5). A vehicle with ID 29 is 34.2 meters away at (-4.7, 33.9). A unknown object with ID 6 is 80.2 meters away at (-55.6, -57.7).

The vehicle with ID 1 is traveling at a (x, y) velocity of [1.9164771 1.3888638] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 1.3711101 -1.7869858] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.9) m/s. Its current heading (yaw) is 1.28 radians with an angular velocity of 1.28 rad/s.

The most relevant actors are: A vehicle with ID 1 is 12.3 meters away at (-8.0, -9.3). A vehicle with ID 29 is 26.4 meters away at (-9.3, 24.7). A vehicle with ID 22 is 28.4 meters away at (-13.4, 25.0). A vehicle with ID 9 is 43.8 meters away at (-19.5, 39.2). A vehicle with ID 24 is 55.5 meters away at (-29.3, 47.1). A vehicle with ID 10 is 56.7 meters away at (-27.2, 49.7). A pedestrian with ID 8 is 70.6 meters away at (-32.4, 62.7).

The vehicle with ID 1 is traveling at a (x, y) velocity of [3.9672637 2.959857 ] m/s.The vehicle with ID 29 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 [ 2.1836696 -2.9513247] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.1602956 -1.6131891] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.7720094 -5.1536584] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.395685  -3.3161798] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-1.1501611 -0.530953 ] 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, 7.3) m/s. Its current heading (yaw) is 1.86 radians with an angular velocity of 1.86 rad/s.

The most relevant actors are: A unknown object with ID 25 is 11.2 meters away at (-11.0, -1.6). A vehicle with ID 22 is 13.0 meters away at (-10.4, 7.8). A vehicle with ID 29 is 14.6 meters away at (-9.2, 11.3). A vehicle with ID 1 is 14.7 meters away at (0.2, -14.7). A vehicle with ID 9 is 29.0 meters away at (-17.5, 23.1). A vehicle with ID 24 is 33.3 meters away at (-22.6, 24.5). A vehicle with ID 10 is 38.5 meters away at (-23.0, 30.9). A vehicle with ID 16 is 53.7 meters away at (-32.5, 42.8). A vehicle with ID 26 is 65.8 meters away at (-40.5, 51.8).

The unknown object with ID 25 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 [ 0.5883457 -0.744341 ] m/s.The vehicle with ID 29 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 [3.103088 5.585482] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.65086466 -0.9200548 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 2.994094 -4.201492] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 1.3369573 -1.7343186] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 3.3142126 -4.3826566] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 3.931937 -4.107163] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 7.8) m/s. Its current heading (yaw) is 2.17 radians with an angular velocity of 2.17 rad/s.

The most relevant actors are: A vehicle with ID 29 is 4.1 meters away at (-1.3, -3.9). A vehicle with ID 22 is 8.0 meters away at (-2.2, -7.6). A vehicle with ID 24 is 9.3 meters away at (-9.1, 1.8). A vehicle with ID 9 is 10.9 meters away at (-8.6, 6.6). A unknown object with ID 25 is 17.2 meters away at (-3.1, -16.9). A vehicle with ID 1 is 19.3 meters away at (10.2, -16.4). A vehicle with ID 10 is 19.9 meters away at (-14.0, 14.1). A vehicle with ID 16 is 29.8 meters away at (-20.0, 22.1). A vehicle with ID 20 is 40.4 meters away at (-26.6, 30.4). A vehicle with ID 18 is 53.1 meters away at (-34.1, 40.8).

The vehicle with ID 29 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 [ 2.1987019 -3.039569 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 0.35259357 -0.49911964] m/s.The unknown object with ID 25 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 [-1.330336   7.6002927] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.4518757 -1.9455025] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [ 2.4894795 -3.0344386] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 2.7155104 -3.4513705] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.2) m/s. Its current heading (yaw) is 2.93 radians with an angular velocity of 2.93 rad/s.

The most relevant actors are: A unknown object with ID 15 is 13.3 meters away at (-10.8, -7.7). A unknown object with ID 18 is 13.9 meters away at (-11.5, -7.8). A vehicle with ID 17 is 19.9 meters away at (11.6, -16.2). A vehicle with ID 3 is 29.2 meters away at (-26.2, -12.8). A vehicle with ID 16 is 34.6 meters away at (-30.0, -17.2). A unknown object with ID 11 is 38.8 meters away at (-29.9, 24.7). A vehicle with ID 19 is 42.4 meters away at (20.5, -37.1). A vehicle with ID 20 is 43.7 meters away at (23.8, -36.7). A vehicle with ID 21 is 46.0 meters away at (-43.9, 13.8).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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 16 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-3.7773042  2.9591448] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.3) m/s. Its current heading (yaw) is 2.95 radians with an angular velocity of 2.95 rad/s.

The most relevant actors are: A unknown object with ID 10 is 9.6 meters away at (-3.3, -9.0). A unknown object with ID 18 is 10.2 meters away at (-4.2, -9.3). A vehicle with ID 3 is 23.8 meters away at (-19.0, -14.3). A vehicle with ID 17 is 26.0 meters away at (19.0, -17.8). A vehicle with ID 16 is 29.2 meters away at (-22.4, -18.9). A unknown object with ID 11 is 32.4 meters away at (-22.7, 23.1). A vehicle with ID 21 is 47.7 meters away at (-44.5, 17.2). A vehicle with ID 19 is 47.7 meters away at (27.9, -38.7). A vehicle with ID 20 is 49.4 meters away at (31.1, -38.4).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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 16 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 21 is traveling at a (x, y) velocity of [-3.97703    2.1062176] 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: 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 2.95 radians with an angular velocity of 2.95 rad/s.

The most relevant actors are: A unknown object with ID 10 is 9.5 meters away at (-2.3, -9.2). A unknown object with ID 18 is 10.0 meters away at (-3.3, -9.5). A vehicle with ID 3 is 23.1 meters away at (-17.9, -14.6). A vehicle with ID 17 is 27.0 meters away at (20.0, -18.0). A vehicle with ID 16 is 28.6 meters away at (-21.3, -19.1). A unknown object with ID 11 is 31.6 meters away at (-21.8, 23.0). A unknown object with ID 9 is 32.5 meters away at (29.1, -14.3). A vehicle with ID 19 is 48.4 meters away at (28.8, -38.9). A vehicle with ID 20 is 50.2 meters away at (32.1, -38.6). A vehicle with ID 21 is 55.1 meters away at (-51.3, 20.1).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.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 [-3.3046303  0.7204666] 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, 0.7) m/s. Its current heading (yaw) is 2.92 radians with an angular velocity of 2.92 rad/s.

The most relevant actors are: A unknown object with ID 4 is 10.1 meters away at (0.3, -10.1). A unknown object with ID 18 is 10.1 meters away at (-0.5, -10.1). A unknown object with ID 13 is 17.0 meters away at (-0.3, 17.0). A vehicle with ID 3 is 21.5 meters away at (-15.2, -15.2). A vehicle with ID 16 is 27.2 meters away at (-18.9, -19.5). A unknown object with ID 7 is 29.3 meters away at (-18.9, 22.3). A vehicle with ID 17 is 29.4 meters away at (22.8, -18.7). A vehicle with ID 19 is 50.6 meters away at (31.6, -39.6). A vehicle with ID 20 is 52.5 meters away at (34.8, -39.3). A vehicle with ID 21 is 57.8 meters away at (-54.1, 20.2).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-1.8396442   0.16265345] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.7) 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 unknown object with ID 11 is 23.1 meters away at (-20.8, -10.0). A pedestrian with ID 19 is 34.7 meters away at (34.7, -0.1).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.5798177 -0.3343706] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -1.7) m/s. Its current heading (yaw) is -2.50 radians with an angular velocity of -2.50 rad/s.

The most relevant actors are: A unknown object with ID 12 is 17.7 meters away at (-16.3, -6.8). A unknown object with ID 11 is 19.9 meters away at (-18.4, -7.6). A pedestrian with ID 19 is 38.3 meters away at (38.2, 1.9).

The unknown object with ID 12 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 pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.7533104  -0.26631525] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 0.4) m/s. Its current heading (yaw) is 3.05 radians with an angular velocity of 3.05 rad/s.

The most relevant actors are: A unknown object with ID 12 is 10.5 meters away at (-9.2, -5.0). A unknown object with ID 10 is 44.5 meters away at (-38.6, -22.1). A pedestrian with ID 19 is 46.6 meters away at (46.5, 2.8).

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 pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.73089194 -0.89081115] 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, -0.2) m/s. Its current heading (yaw) is -3.10 radians with an angular velocity of -3.10 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 56.7 meters away at (56.7, 1.0). A vehicle with ID 1 is 60.6 meters away at (-25.9, -54.8). A vehicle with ID 2 is 69.6 meters away at (-43.0, -54.7). A vehicle with ID 3 is 70.1 meters away at (-45.2, -53.6). A vehicle with ID 9 is 71.2 meters away at (-47.7, -52.8).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.09334534 -0.04304055] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 6 is 10.9 meters away at (8.3, -7.1). A unknown object with ID 32 is 39.9 meters away at (-39.0, -8.6). A vehicle with ID 33 is 46.1 meters away at (41.4, -20.3). A vehicle with ID 34 is 48.1 meters away at (48.0, 1.3).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.5560362  0.5032354] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-3.3, 2.9) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 6 is 14.7 meters away at (11.2, -9.6). A unknown object with ID 32 is 36.6 meters away at (-34.4, -12.5). A unknown object with ID 17 is 38.7 meters away at (-35.9, -14.5). A vehicle with ID 33 is 51.8 meters away at (45.9, -24.1). A vehicle with ID 28 is 52.0 meters away at (-37.1, -36.4). A vehicle with ID 34 is 52.8 meters away at (52.7, -2.4). A vehicle with ID 9 is 58.4 meters away at (-47.1, -34.4).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.3834255  1.2050918] m/s.The unknown object with ID 32 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 4.3) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 6 is 20.5 meters away at (15.6, -13.4). A unknown object with ID 32 is 32.6 meters away at (-26.0, -19.7). A unknown object with ID 17 is 35.0 meters away at (-27.4, -21.8). A unknown object with ID 23 is 48.3 meters away at (11.4, -46.9). A vehicle with ID 28 is 51.9 meters away at (-28.5, -43.4). A vehicle with ID 5 is 55.6 meters away at (-55.6, 1.9). A vehicle with ID 34 is 61.8 meters away at (61.1, -9.7). A vehicle with ID 33 is 62.7 meters away at (54.3, -31.4).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-2.1024375  1.7694641] m/s.The unknown object with ID 32 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 23 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 5.4) 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 6 is 31.7 meters away at (23.9, -20.7). A vehicle with ID 26 is 34.0 meters away at (-30.1, -15.7). A vehicle with ID 5 is 44.7 meters away at (-43.9, -8.3). A vehicle with ID 28 is 55.5 meters away at (-17.2, -52.8). A vehicle with ID 16 is 70.7 meters away at (-27.5, -65.1). A vehicle with ID 34 is 75.1 meters away at (72.5, -19.6). A vehicle with ID 33 is 77.6 meters away at (65.8, -41.1).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-1.4014773  1.1278545] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 (1.7, 1.3) m/s. Its current heading (yaw) is 0.65 radians with an angular velocity of 0.65 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) 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 vehicle with ID 1 is 35.9 meters away at (-2.0, 35.8). A unknown object with ID 2 is 77.8 meters away at (-50.6, -59.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.0559802 -2.737001 ] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.71 radians with an angular velocity of 0.71 rad/s.

The most relevant actors are: A vehicle with ID 1 is 30.4 meters away at (1.9, 30.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.6606224 -3.5973172] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.71 radians with an angular velocity of 0.71 rad/s.

The most relevant actors are: A vehicle with ID 1 is 22.8 meters away at (8.9, 21.0).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.346146  -5.7211037] 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, -2.4) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A vehicle with ID 1 is 4.4 meters away at (-1.5, 4.1). A vehicle with ID 3 is 9.9 meters away at (6.7, 7.3). A vehicle with ID 15 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 69 is 13.2 meters away at (-13.0, 2.3). A cyclist with ID 70 is 15.6 meters away at (0.0, 15.6). A vehicle with ID 17 is 19.6 meters away at (13.2, 14.4). A vehicle with ID 22 is 20.0 meters away at (10.8, 16.8). A vehicle with ID 72 is 30.1 meters away at (-1.8, -30.1). A cyclist with ID 77 is 33.6 meters away at (-31.6, -11.6). A vehicle with ID 68 is 34.1 meters away at (-1.1, -34.1).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.41017002 -0.431631  ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.7850443 -0.8320648] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-4.985471 -4.975558] m/s.The vehicle with ID 17 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 72 is traveling at a (x, y) velocity of [-2.9640522  1.6473467] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [4.6080475 7.919941 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-5.5960445  2.2620783] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -4.7) m/s. Its current heading (yaw) is -2.26 radians with an angular velocity of -2.26 rad/s.

The most relevant actors are: A vehicle with ID 1 is 8.2 meters away at (1.3, 8.1). A vehicle with ID 69 is 11.9 meters away at (-7.2, 9.5). A vehicle with ID 3 is 13.2 meters away at (8.6, 10.0). A cyclist with ID 70 is 16.2 meters away at (-0.9, 16.1). A cyclist with ID 77 is 18.8 meters away at (-11.8, 14.6). A vehicle with ID 72 is 20.4 meters away at (-0.4, -20.4). A vehicle with ID 15 is 20.9 meters away at (10.9, 17.8). A cyclist with ID 79 is 21.1 meters away at (-16.9, 12.5). A pedestrian with ID 75 is 23.5 meters away at (-10.3, -21.2). A pedestrian with ID 76 is 24.2 meters away at (-11.2, -21.5).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.5490038 -2.8423066] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.0161564 -3.3919482] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-2.4860837 -2.3993332] m/s.The cyclist with ID 77 is traveling at a (x, y) velocity of [ 8.542308 10.016719] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-1.8454947  0.9854302] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 79 is traveling at a (x, y) velocity of [ 8.82544  10.712157] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.5045952  1.0153269] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.5084888  0.9348991] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -6.3) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A pedestrian with ID 75 is 9.3 meters away at (-2.3, -9.0). A vehicle with ID 72 is 10.1 meters away at (6.1, -8.0). A pedestrian with ID 76 is 10.2 meters away at (-3.3, -9.7). A vehicle with ID 1 is 11.6 meters away at (3.2, 11.1). A vehicle with ID 68 is 15.0 meters away at (-2.5, -14.8). A vehicle with ID 3 is 15.4 meters away at (9.7, 12.0). A vehicle with ID 78 is 18.6 meters away at (-12.9, 13.4). A unknown object with ID 44 is 19.6 meters away at (8.5, -17.7). A vehicle with ID 69 is 20.7 meters away at (1.7, 20.6). A vehicle with ID 82 is 22.8 meters away at (-21.3, 8.1).

The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.06802646  0.04218352] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.5258417   0.24802117] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [-0.10083497  0.05773488] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.49371   -5.5225186] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [-2.320196   -0.72540885] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.7614083 -5.783299 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [5.9844756 7.595223 ] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [4.945273 6.924834] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -7.3) m/s. Its current heading (yaw) is -2.17 radians with an angular velocity of -2.17 rad/s.

The most relevant actors are: A vehicle with ID 68 is 5.6 meters away at (5.2, -2.1). A pedestrian with ID 76 is 7.6 meters away at (6.6, 3.9). A pedestrian with ID 75 is 8.4 meters away at (7.2, 4.3). A pedestrian with ID 65 is 11.7 meters away at (8.6, -7.9). A vehicle with ID 1 is 11.9 meters away at (3.0, 11.5). A vehicle with ID 3 is 15.4 meters away at (9.2, 12.3). A vehicle with ID 72 is 16.8 meters away at (15.9, 5.4). A vehicle with ID 84 is 17.9 meters away at (-14.1, 11.1). A unknown object with ID 44 is 18.8 meters away at (18.3, -4.3). A vehicle with ID 87 is 20.0 meters away at (-20.0, 1.4).

The vehicle with ID 68 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 [0.0029591  0.05757331] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.31266677  0.03424446] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.6921313 1.3141654] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.6307745 -7.655207 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.478148  -7.3638744] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [4.2039194 6.683897 ] m/s.The unknown object with ID 44 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 [3.4605968 5.4441433] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.92 radians with an angular velocity of -1.92 rad/s.

The most relevant actors are: A vehicle with ID 11 is 3.9 meters away at (-3.9, -0.3). A unknown object with ID 12 is 15.8 meters away at (-13.6, 8.0). A unknown object with ID 13 is 17.0 meters away at (-16.6, 3.7). A vehicle with ID 20 is 18.5 meters away at (-11.3, 14.7). A unknown object with ID 18 is 20.8 meters away at (-15.3, 14.1). A pedestrian with ID 17 is 20.8 meters away at (-14.5, 15.0). A unknown object with ID 5 is 25.3 meters away at (-11.5, 22.6). A vehicle with ID 16 is 26.2 meters away at (-17.7, -19.3). A unknown object with ID 1 is 26.7 meters away at (-10.7, 24.5). A unknown object with ID 22 is 26.9 meters away at (-7.2, 26.0).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.3623331 1.1097276] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-5.471396   -0.48575655] m/s.The unknown object 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.92 radians with an angular velocity of -1.92 rad/s.

The most relevant actors are: A vehicle with ID 11 is 3.7 meters away at (-3.7, 0.4). A unknown object with ID 6 is 9.7 meters away at (-1.1, 9.6). A unknown object with ID 12 is 16.0 meters away at (-13.4, 8.7). A vehicle with ID 20 is 19.1 meters away at (-11.0, 15.6). A unknown object with ID 18 is 21.2 meters away at (-15.0, 14.9). A unknown object with ID 22 is 27.6 meters away at (-6.9, 26.8). A vehicle with ID 16 is 34.6 meters away at (-28.6, -19.6). A vehicle with ID 25 is 42.2 meters away at (-38.7, -16.8). A vehicle with ID 19 is 46.1 meters away at (-41.5, -20.0). A vehicle with ID 28 is 48.9 meters away at (-45.8, -17.2).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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 18 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 vehicle with ID 16 is traveling at a (x, y) velocity of [-5.768565  -0.4345757] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.785843   -0.46421555] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 radians with an angular velocity of -1.92 rad/s.

The most relevant actors are: A vehicle with ID 11 is 3.7 meters away at (-3.6, 0.5). A unknown object with ID 12 is 16.0 meters away at (-13.4, 8.7). A vehicle with ID 20 is 19.0 meters away at (-11.0, 15.5). A unknown object with ID 22 is 27.7 meters away at (-6.9, 26.9). A vehicle with ID 25 is 42.1 meters away at (-38.7, -16.7). A vehicle with ID 16 is 45.0 meters away at (-40.2, -20.3). A vehicle with ID 28 is 48.9 meters away at (-45.8, -17.1). A unknown object with ID 23 is 55.6 meters away at (-0.5, 55.6). A vehicle with ID 19 is 57.6 meters away at (-53.8, -20.7). A pedestrian with ID 27 is 73.6 meters away at (1.7, 73.6).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.00189    -0.20989403] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.4129143  -0.31600863] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.1865405 -1.3788077] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.92 radians with an angular velocity of -1.92 rad/s.

The most relevant actors are: A vehicle with ID 11 is 3.7 meters away at (-3.6, 0.5). A unknown object with ID 12 is 16.0 meters away at (-13.4, 8.7). A vehicle with ID 20 is 18.7 meters away at (-11.1, 15.0). A unknown object with ID 4 is 27.4 meters away at (-10.4, 25.4). A unknown object with ID 22 is 27.7 meters away at (-6.9, 26.8). A vehicle with ID 25 is 42.1 meters away at (-38.7, -16.7). A vehicle with ID 28 is 48.9 meters away at (-45.8, -17.1). A unknown object with ID 23 is 55.6 meters away at (-0.5, 55.6). A vehicle with ID 16 is 56.2 meters away at (-52.2, -20.7). A vehicle with ID 19 is 69.9 meters away at (-66.6, -21.2).

The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.074996   -0.16680339] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-6.6512103  -0.42794746] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.7) 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 58 is 5.0 meters away at (-1.7, 4.7). A vehicle with ID 60 is 5.5 meters away at (5.4, 0.8). A vehicle with ID 63 is 9.2 meters away at (7.1, 5.8). A vehicle with ID 64 is 9.6 meters away at (-0.3, 9.6). A vehicle with ID 65 is 14.8 meters away at (1.4, 14.8). A vehicle with ID 66 is 15.1 meters away at (1.8, -15.0). A vehicle with ID 75 is 18.1 meters away at (-18.0, -2.1). A vehicle with ID 21 is 19.8 meters away at (-18.1, -8.1). A vehicle with ID 67 is 21.3 meters away at (3.4, 21.0). A vehicle with ID 47 is 23.8 meters away at (-23.8, -0.0).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 [ 7.1258917 -2.267061 ] m/s.The vehicle with ID 75 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.6) m/s. Its current heading (yaw) is -1.45 radians with an angular velocity of -1.45 rad/s.

The most relevant actors are: A vehicle with ID 60 is 7.8 meters away at (5.7, 5.2). A vehicle with ID 58 is 9.3 meters away at (-1.4, 9.2). A vehicle with ID 63 is 12.7 meters away at (7.5, 10.3). A vehicle with ID 64 is 14.1 meters away at (0.1, 14.1). A vehicle with ID 75 is 17.9 meters away at (-17.7, 2.6). A vehicle with ID 21 is 18.1 meters away at (-17.8, -3.5). A vehicle with ID 65 is 19.3 meters away at (1.8, 19.3). A vehicle with ID 62 is 22.0 meters away at (13.2, -17.6). A vehicle with ID 47 is 23.8 meters away at (-23.4, 4.6). A vehicle with ID 72 is 24.0 meters away at (-17.3, -16.7).

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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -3.7) m/s. Its current heading (yaw) is -0.85 radians with an angular velocity of -0.85 rad/s.

The most relevant actors are: A vehicle with ID 60 is 13.3 meters away at (2.2, 13.1). A vehicle with ID 62 is 13.7 meters away at (9.7, -9.6). A vehicle with ID 58 is 17.8 meters away at (-4.9, 17.1). A vehicle with ID 59 is 18.6 meters away at (14.7, -11.5). A vehicle with ID 63 is 18.6 meters away at (4.0, 18.2). A vehicle with ID 18 is 18.7 meters away at (18.3, -3.4). A vehicle with ID 21 is 19.9 meters away at (-19.6, 3.7). A vehicle with ID 74 is 20.9 meters away at (-16.0, -13.4). A vehicle with ID 64 is 22.2 meters away at (-3.5, 22.0). A vehicle with ID 72 is 22.5 meters away at (-20.8, -8.8).

The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 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 21 is traveling at a (x, y) velocity of [ 2.2607608  -0.84106594] m/s.The vehicle with ID 74 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 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 (5.4, -2.1) m/s. Its current heading (yaw) is -0.37 radians with an angular velocity of -0.37 rad/s.

The most relevant actors are: A vehicle with ID 62 is 3.9 meters away at (1.0, -3.8). A vehicle with ID 59 is 8.2 meters away at (5.9, -5.7). A vehicle with ID 18 is 9.9 meters away at (9.6, 2.4). A vehicle with ID 57 is 14.0 meters away at (11.7, -7.6). A vehicle with ID 12 is 14.4 meters away at (14.4, 0.8). A pedestrian with ID 11 is 17.0 meters away at (12.3, -11.7). A vehicle with ID 56 is 19.3 meters away at (16.8, -9.4). A vehicle with ID 60 is 20.0 meters away at (-6.6, 18.8). A vehicle with ID 21 is 22.2 meters away at (-21.2, 6.9). A vehicle with ID 63 is 24.5 meters away at (-4.8, 24.0).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00374998  0.01537546] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.8973145 -1.7662073] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -5.8) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A vehicle with ID 20 is 7.3 meters away at (0.7, -7.2). A vehicle with ID 3 is 13.0 meters away at (4.0, 12.3). A cyclist with ID 6 is 19.0 meters away at (-10.3, -15.9). A unknown object with ID 14 is 26.1 meters away at (20.1, 16.7). A vehicle with ID 21 is 31.2 meters away at (3.4, 31.0). A vehicle with ID 22 is 33.2 meters away at (-4.2, 33.0). A vehicle with ID 19 is 40.7 meters away at (35.5, -20.0). A vehicle with ID 24 is 48.8 meters away at (-14.7, 46.5). A vehicle with ID 9 is 60.1 meters away at (49.8, -33.6). A vehicle with ID 11 is 62.7 meters away at (51.5, -35.8).

The vehicle with ID 20 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 [ 0.72311544 -6.881946  ] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [-6.1003456e-04 -2.9038596e+00] m/s.The unknown object with ID 14 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 [-11.008428   13.8922615] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [  9.073306 -11.958477] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [  9.706142 -13.371537] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  8.775144 -11.132198] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-9.014394 11.717382] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.751558 11.405356] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, -5.2) m/s. Its current heading (yaw) is -2.52 radians with an angular velocity of -2.52 rad/s.

The most relevant actors are: A vehicle with ID 20 is 14.0 meters away at (13.6, 3.5). A vehicle with ID 3 is 15.8 meters away at (12.5, 9.7). A vehicle with ID 22 is 33.0 meters away at (26.9, 19.0). A vehicle with ID 24 is 37.1 meters away at (16.0, 33.5). A unknown object with ID 14 is 42.9 meters away at (32.7, 27.7). A vehicle with ID 11 is 46.5 meters away at (46.5, -1.5). A vehicle with ID 18 is 49.9 meters away at (4.4, 49.7).

The vehicle with ID 20 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 [-5.084569 -5.922764] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [  9.058885 -12.462008] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  8.851756 -12.486074] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.600703 11.654031] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [  8.307098 -11.443356] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, -6.7) m/s. Its current heading (yaw) is -2.38 radians with an angular velocity of -2.38 rad/s.

The most relevant actors are: A vehicle with ID 3 is 17.2 meters away at (13.7, 10.3). A vehicle with ID 20 is 32.2 meters away at (28.5, 15.1). A vehicle with ID 18 is 52.7 meters away at (37.0, 37.5). A vehicle with ID 24 is 52.8 meters away at (48.8, 20.3). A vehicle with ID 11 is 55.6 meters away at (44.5, 33.2). A vehicle with ID 22 is 60.2 meters away at (59.9, 5.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-7.5628066 -5.3744407] m/s.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 [  9.063186 -12.245991] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [  9.131879 -12.455562] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.222795 10.976903] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [  8.912436 -12.301542] 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, -8.6) m/s. Its current heading (yaw) is -2.09 radians with an angular velocity of -2.09 rad/s.

The most relevant actors are: A vehicle with ID 3 is 18.2 meters away at (11.2, 14.3). A vehicle with ID 20 is 50.8 meters away at (40.8, 30.3). A vehicle with ID 8 is 71.1 meters away at (54.1, 46.1). A vehicle with ID 13 is 77.0 meters away at (58.0, 50.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-6.6697183 -6.3723745] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [  9.611894 -13.05374 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-10.139957  14.046489] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.2) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 46 is 28.6 meters away at (-20.4, 20.1). A vehicle with ID 41 is 32.6 meters away at (26.9, -18.3). A vehicle with ID 48 is 34.6 meters away at (-25.5, 23.3). A vehicle with ID 47 is 39.4 meters away at (-21.2, -33.2). A vehicle with ID 51 is 39.5 meters away at (-29.6, 26.1). A vehicle with ID 49 is 47.4 meters away at (-33.5, -33.5). A vehicle with ID 45 is 49.2 meters away at (39.6, -29.3). A vehicle with ID 52 is 53.6 meters away at (-37.5, -38.3). A vehicle with ID 53 is 56.3 meters away at (-31.9, -46.4). A vehicle with ID 44 is 58.5 meters away at (42.1, -40.6).

The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 [1.341813  0.8922168] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 6.2466297 -5.639311 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 5.5) m/s. Its current heading (yaw) is 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A unknown object with ID 20 is 4.0 meters away at (0.0, 4.0). A vehicle with ID 46 is 10.9 meters away at (-6.2, 8.9). A vehicle with ID 48 is 16.6 meters away at (-11.2, 12.2). A vehicle with ID 51 is 21.5 meters away at (-15.3, 15.0). A pedestrian with ID 37 is 24.4 meters away at (-16.7, 17.8). A pedestrian with ID 14 is 35.2 meters away at (31.8, -15.1). A unknown object with ID 32 is 36.3 meters away at (-20.2, 30.2). A vehicle with ID 47 is 42.2 meters away at (-4.6, -42.0). A vehicle with ID 23 is 44.2 meters away at (-33.0, 29.4). A vehicle with ID 33 is 47.3 meters away at (-36.9, 29.6).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00069698  0.01694031] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.01405957 -0.02814226] m/s.The unknown object with ID 32 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 [0.95635444 1.4374362 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.0, 5.7) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A vehicle with ID 51 is 4.1 meters away at (1.7, 3.7). A vehicle with ID 48 is 5.8 meters away at (5.7, 1.0). A cyclist with ID 31 is 6.8 meters away at (-4.2, 5.3). A vehicle with ID 46 is 10.9 meters away at (10.7, -2.3). A unknown object with ID 32 is 19.0 meters away at (-2.9, 18.8). A vehicle with ID 23 is 24.0 meters away at (-15.8, 18.1). A vehicle with ID 33 is 27.0 meters away at (-19.7, 18.4). A vehicle with ID 11 is 36.4 meters away at (-27.4, -24.0). A unknown object with ID 18 is 49.0 meters away at (45.5, -18.1). A vehicle with ID 29 is 50.8 meters away at (13.2, -49.1).

The vehicle with ID 51 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 cyclist with ID 31 is traveling at a (x, y) velocity of [ 0.04039408 -0.04872276] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [0.04392254 0.29680988] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 6.019102  -4.4316254] m/s.The unknown object with ID 18 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 [-1.559389   2.3892167] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 5.4) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A vehicle with ID 23 is 6.9 meters away at (1.7, 6.7). A vehicle with ID 33 is 8.5 meters away at (-1.4, 8.4). A vehicle with ID 36 is 14.2 meters away at (-6.1, 12.8). A vehicle with ID 12 is 19.7 meters away at (-12.4, 15.3). A unknown object with ID 34 is 19.8 meters away at (16.9, 10.3). A vehicle with ID 51 is 20.6 meters away at (19.2, -7.6). A vehicle with ID 48 is 25.5 meters away at (23.3, -10.4). A vehicle with ID 46 is 31.4 meters away at (28.2, -13.7). A vehicle with ID 7 is 43.1 meters away at (-32.5, -28.3). A vehicle with ID 11 is 44.2 meters away at (2.3, -44.1).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.2788467 -4.002638 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 5.7) 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 unknown object with ID 99 is 5.5 meters away at (5.2, -1.7). A unknown object with ID 100 is 5.6 meters away at (5.5, -1.0). A unknown object with ID 101 is 5.8 meters away at (5.8, -0.1). A unknown object with ID 102 is 6.3 meters away at (6.2, 1.0). A unknown object with ID 104 is 7.1 meters away at (6.8, 2.1). A unknown object with ID 105 is 7.7 meters away at (7.2, 2.9). A unknown object with ID 107 is 8.6 meters away at (7.7, 3.8). A unknown object with ID 108 is 9.4 meters away at (8.1, 4.7). A unknown object with ID 106 is 10.0 meters away at (10.0, 0.6). A unknown object with ID 109 is 10.3 meters away at (8.6, 5.7).

The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, 5.3) m/s. Its current heading (yaw) is 0.90 radians with an angular velocity of 0.90 rad/s.

The most relevant actors are: A unknown object with ID 114 is 2.5 meters away at (2.4, -0.8). A unknown object with ID 112 is 2.6 meters away at (1.9, -1.8). A unknown object with ID 45 is 2.8 meters away at (2.7, -0.5). A unknown object with ID 115 is 2.8 meters away at (2.8, -0.2). A unknown object with ID 29 is 2.9 meters away at (1.5, -2.5). A unknown object with ID 111 is 3.5 meters away at (1.0, -3.4). A unknown object with ID 116 is 3.8 meters away at (3.5, 1.3). A unknown object with ID 74 is 4.1 meters away at (3.9, -1.4). A unknown object with ID 85 is 4.4 meters away at (4.1, -1.6). A unknown object with ID 110 is 4.4 meters away at (0.5, -4.4).

The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 115 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 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 5.1) m/s. Its current heading (yaw) is 0.90 radians with an angular velocity of 0.90 rad/s.

The most relevant actors are: A unknown object with ID 30 is 1.9 meters away at (1.6, -1.1). A unknown object with ID 55 is 2.6 meters away at (2.6, 0.1). A unknown object with ID 122 is 2.9 meters away at (-0.0, -2.9). A unknown object with ID 123 is 3.3 meters away at (3.2, 0.9). A unknown object with ID 54 is 3.7 meters away at (3.5, 1.3). A unknown object with ID 120 is 4.7 meters away at (-1.3, -4.5). A unknown object with ID 124 is 4.8 meters away at (4.3, 2.2). A unknown object with ID 119 is 6.6 meters away at (-2.4, -6.1). A unknown object with ID 125 is 6.7 meters away at (5.5, 3.8). A unknown object with ID 31 is 7.6 meters away at (-6.4, -4.2).

The unknown object with ID 30 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 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 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 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.8) m/s. Its current heading (yaw) is 0.90 radians with an angular velocity of 0.90 rad/s.

The most relevant actors are: A unknown object with ID 15 is 1.7 meters away at (1.5, -0.8). A unknown object with ID 16 is 1.7 meters away at (0.9, -1.5). A unknown object with ID 50 is 2.8 meters away at (0.0, -2.8). A unknown object with ID 14 is 3.2 meters away at (3.0, 0.9). A unknown object with ID 126 is 4.6 meters away at (-1.2, -4.5). A unknown object with ID 63 is 5.2 meters away at (4.5, 2.6). A unknown object with ID 125 is 6.4 meters away at (-2.3, -5.9). A pedestrian with ID 28 is 6.7 meters away at (5.3, -4.1). A unknown object with ID 13 is 6.9 meters away at (5.6, 4.0). A vehicle with ID 88 is 7.0 meters away at (6.5, 2.6).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 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 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.04044428 0.84051883] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A vehicle with ID 47 is 10.1 meters away at (0.1, -10.1). A vehicle with ID 48 is 10.6 meters away at (-2.6, -10.3). A vehicle with ID 49 is 11.4 meters away at (-5.5, -9.9). A vehicle with ID 50 is 13.2 meters away at (-8.5, -10.1). A vehicle with ID 51 is 17.3 meters away at (-13.8, -10.5). A cyclist with ID 29 is 39.9 meters away at (-39.9, 1.0). A vehicle with ID 56 is 50.2 meters away at (-49.3, -9.7). A vehicle with ID 57 is 53.2 meters away at (-52.2, -9.9). A vehicle with ID 59 is 59.4 meters away at (-58.6, -9.4).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [-5.2561255   0.06762892] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 0.0) m/s. Its current heading (yaw) is 3.14 radians with an angular velocity of 3.14 rad/s.

The most relevant actors are: A vehicle with ID 51 is 11.4 meters away at (4.2, -10.6). A vehicle with ID 50 is 13.8 meters away at (9.4, -10.1). A vehicle with ID 49 is 15.8 meters away at (12.4, -9.9). A vehicle with ID 48 is 18.4 meters away at (15.3, -10.3). A vehicle with ID 47 is 20.8 meters away at (18.1, -10.1). A cyclist with ID 29 is 32.7 meters away at (-32.6, 1.4). A vehicle with ID 56 is 32.7 meters away at (-31.2, -9.7). A vehicle with ID 57 is 35.6 meters away at (-34.1, -9.9). A vehicle with ID 59 is 41.7 meters away at (-40.6, -9.6). A pedestrian with ID 31 is 62.2 meters away at (61.9, 7.0).

The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [-4.9725876 -0.1068526] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [1.092642   0.08413333] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A vehicle with ID 56 is 17.6 meters away at (-14.6, -9.8). A vehicle with ID 57 is 20.2 meters away at (-17.5, -10.0). A vehicle with ID 51 is 23.3 meters away at (20.7, -10.6). A vehicle with ID 59 is 25.8 meters away at (-23.9, -9.7). A cyclist with ID 29 is 27.3 meters away at (-27.2, 1.2). A vehicle with ID 50 is 27.9 meters away at (25.9, -10.2). A vehicle with ID 49 is 30.6 meters away at (29.0, -9.8). A vehicle with ID 48 is 33.7 meters away at (32.0, -10.4). A vehicle with ID 47 is 36.2 meters away at (34.8, -10.1). A vehicle with ID 32 is 47.6 meters away at (-45.4, 14.4).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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 cyclist with ID 29 is traveling at a (x, y) velocity of [-5.615381    0.04926265] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 0.0) m/s. Its current heading (yaw) is 3.14 radians with an angular velocity of 3.14 rad/s.

The most relevant actors are: A vehicle with ID 56 is 9.8 meters away at (0.5, -9.8). A vehicle with ID 57 is 10.4 meters away at (-2.3, -10.1). A vehicle with ID 59 is 13.2 meters away at (-8.7, -9.9). A vehicle with ID 40 is 15.6 meters away at (-11.6, -10.5). A cyclist with ID 29 is 23.2 meters away at (-23.1, 1.2). A vehicle with ID 32 is 33.4 meters away at (-30.1, 14.3). A vehicle with ID 30 is 34.7 meters away at (-33.2, -10.0). A vehicle with ID 51 is 37.6 meters away at (36.0, -10.7). A vehicle with ID 50 is 42.5 meters away at (41.2, -10.2). A vehicle with ID 49 is 45.3 meters away at (44.3, -9.8).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 cyclist with ID 29 is traveling at a (x, y) velocity of [-5.544063    0.02078365] m/s.The vehicle with ID 32 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 (4.6, -0.5) m/s. Its current heading (yaw) is -0.10 radians with an angular velocity of -0.10 rad/s.

The most relevant actors are: A vehicle with ID 81 is 11.4 meters away at (10.5, 4.6). A vehicle with ID 41 is 15.3 meters away at (-5.7, 14.2). A vehicle with ID 80 is 22.3 meters away at (-21.0, 7.5). A vehicle with ID 79 is 25.0 meters away at (-20.8, 13.8). A vehicle with ID 24 is 25.4 meters away at (24.3, -7.5). A pedestrian with ID 86 is 28.4 meters away at (-17.7, 22.2). A pedestrian with ID 73 is 28.6 meters away at (-17.1, 22.9). A vehicle with ID 85 is 29.9 meters away at (-28.3, 9.7). A pedestrian with ID 87 is 32.0 meters away at (-21.8, 23.5). A pedestrian with ID 88 is 32.9 meters away at (-21.7, 24.7).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.6130807e-03 -4.3068371e+00] m/s.The vehicle with ID 80 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 [-4.711387   1.7810231] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.1406674 -1.9132023] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.05878193 -0.06864389] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.0771593 -0.2406907] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-0.0257645  -0.02638095] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.03159957 -0.0757853 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -2.0) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A vehicle with ID 81 is 7.3 meters away at (-0.4, 7.3). A vehicle with ID 41 is 17.0 meters away at (-14.5, 9.0). A vehicle with ID 24 is 29.1 meters away at (27.7, -8.9). A vehicle with ID 78 is 30.3 meters away at (30.3, 1.8). A vehicle with ID 80 is 33.5 meters away at (-31.8, 10.5). A pedestrian with ID 46 is 37.3 meters away at (37.0, 4.3). A vehicle with ID 77 is 37.3 meters away at (37.3, -0.6). A vehicle with ID 85 is 41.0 meters away at (-39.0, 12.6). A pedestrian with ID 88 is 42.9 meters away at (-32.7, 27.7). A vehicle with ID 79 is 45.0 meters away at (-40.5, 19.6).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 2.0416336 -3.7743094] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.4191914 -2.3139179] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.1925055  -0.48111975] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.6307779   0.14107253] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [-3.906405   1.0356698] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.0, -2.7) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A vehicle with ID 78 is 16.9 meters away at (15.7, 6.3). A vehicle with ID 81 is 19.0 meters away at (-15.0, 11.7). A vehicle with ID 77 is 23.1 meters away at (22.8, 3.9). A vehicle with ID 41 is 24.2 meters away at (-23.0, 7.5). A pedestrian with ID 46 is 26.1 meters away at (24.8, 8.0). A vehicle with ID 24 is 29.1 meters away at (27.8, -8.9). A pedestrian with ID 82 is 36.6 meters away at (32.0, -17.7). A pedestrian with ID 83 is 36.9 meters away at (31.9, -18.6). A vehicle with ID 47 is 37.8 meters away at (34.4, -15.6). A vehicle with ID 76 is 44.1 meters away at (44.0, -2.9).

The vehicle with ID 78 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 4.18287   -2.5685256] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.194178   -0.38630107] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.317541  -2.4908051] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.2768143   0.24967818] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.304518  0.249727] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, -3.0) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 77 is 11.0 meters away at (6.0, 9.2). A vehicle with ID 78 is 11.5 meters away at (-1.1, 11.5). A pedestrian with ID 46 is 16.2 meters away at (10.3, 12.5). A pedestrian with ID 82 is 17.2 meters away at (12.5, -11.8). A pedestrian with ID 83 is 17.7 meters away at (12.5, -12.6). A vehicle with ID 47 is 20.4 meters away at (17.6, -10.4). A vehicle with ID 62 is 26.0 meters away at (26.0, -1.5). A vehicle with ID 24 is 27.1 meters away at (25.8, -8.3). A vehicle with ID 76 is 27.2 meters away at (27.1, 2.4). A pedestrian with ID 45 is 31.5 meters away at (25.9, -17.9).

The vehicle with ID 77 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 pedestrian with ID 46 is traveling at a (x, y) velocity of [ 1.3130541  -0.61306846] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [-1.2463733  0.2782231] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [-1.2711618   0.26057512] m/s.The vehicle with ID 47 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 [-10.5025625   3.1591554] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.787139  -2.7393336] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [ 0.87419075 -0.37670353] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.8) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A unknown object with ID 67 is 5.9 meters away at (5.6, -1.9). A unknown object with ID 68 is 6.5 meters away at (6.5, -0.7). A unknown object with ID 70 is 13.9 meters away at (-2.2, 13.8). A unknown object with ID 65 is 23.0 meters away at (-15.3, 17.2). A vehicle with ID 72 is 23.2 meters away at (6.8, -22.2). A unknown object with ID 74 is 27.0 meters away at (-18.4, 19.7). A vehicle with ID 73 is 27.3 meters away at (-22.6, -15.3). A unknown object with ID 76 is 27.4 meters away at (-25.8, 9.3). A vehicle with ID 69 is 27.5 meters away at (-27.0, -4.8). A unknown object with ID 75 is 28.4 meters away at (3.6, -28.2).

The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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, 2.6) 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 unknown object with ID 70 is 10.5 meters away at (2.2, 10.3). A unknown object with ID 67 is 11.2 meters away at (9.9, -5.3). A unknown object with ID 68 is 11.6 meters away at (10.8, -4.1). A unknown object with ID 65 is 17.6 meters away at (-11.0, 13.7). A unknown object with ID 74 is 21.5 meters away at (-14.1, 16.3). A vehicle with ID 66 is 23.7 meters away at (-21.6, 9.8). A vehicle with ID 69 is 24.2 meters away at (-22.7, -8.2). A vehicle with ID 73 is 26.2 meters away at (-18.3, -18.8). A vehicle with ID 72 is 28.2 meters away at (10.7, -26.1). A vehicle with ID 71 is 30.4 meters away at (-27.1, -13.8).

The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 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 69 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 [-0.36818284 -0.3444149 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.8) 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 unknown object with ID 65 is 8.1 meters away at (-3.1, 7.5). A unknown object with ID 70 is 10.8 meters away at (10.1, 3.9). A unknown object with ID 74 is 11.7 meters away at (-6.2, 10.0). A vehicle with ID 66 is 14.2 meters away at (-13.7, 3.5). A unknown object with ID 21 is 18.6 meters away at (-11.7, 14.5). A unknown object with ID 57 is 19.5 meters away at (17.5, -8.5). A vehicle with ID 69 is 20.8 meters away at (-14.9, -14.6). A unknown object with ID 67 is 21.2 meters away at (17.8, -11.6). A unknown object with ID 68 is 21.5 meters away at (18.8, -10.4). A vehicle with ID 26 is 23.1 meters away at (13.6, 18.7).

The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 (-5.4, 4.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A unknown object with ID 74 is 4.3 meters away at (3.8, 1.8). A vehicle with ID 66 is 5.9 meters away at (-3.7, -4.6). A unknown object with ID 21 is 6.6 meters away at (-1.7, 6.3). A unknown object with ID 65 is 7.0 meters away at (7.0, -0.7). A unknown object with ID 20 is 10.1 meters away at (-9.9, -2.2). A unknown object with ID 81 is 12.3 meters away at (-6.6, 10.4). A unknown object with ID 16 is 17.8 meters away at (-17.4, 3.9). A unknown object with ID 39 is 19.2 meters away at (-12.2, 14.9). A vehicle with ID 69 is 23.2 meters away at (-4.8, -22.7). A unknown object with ID 14 is 26.6 meters away at (-24.7, 9.9).

The unknown object with ID 74 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 69 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.2) m/s. Its current heading (yaw) is -2.25 radians with an angular velocity of -2.25 rad/s.

The most relevant actors are: A pedestrian with ID 22 is 9.1 meters away at (-9.1, 0.2). A unknown object with ID 8 is 11.0 meters away at (2.1, -10.8). A vehicle with ID 32 is 11.3 meters away at (-10.3, -4.5). A unknown object with ID 38 is 11.4 meters away at (9.2, 6.6). A vehicle with ID 30 is 12.0 meters away at (-2.8, -11.7). A vehicle with ID 42 is 12.0 meters away at (10.9, 5.1). A vehicle with ID 31 is 13.6 meters away at (-11.9, -6.6). A unknown object with ID 7 is 14.2 meters away at (14.0, -2.1). A vehicle with ID 51 is 14.4 meters away at (4.4, 13.8). A vehicle with ID 44 is 15.2 meters away at (15.0, 2.0).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.481405  0.8778094] m/s.The unknown object with ID 8 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 unknown object with ID 38 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 42 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 unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -3.1) m/s. Its current heading (yaw) is -2.24 radians with an angular velocity of -2.24 rad/s.

The most relevant actors are: A vehicle with ID 32 is 6.0 meters away at (-5.9, 1.0). A vehicle with ID 30 is 6.4 meters away at (1.6, -6.2). A vehicle with ID 31 is 7.6 meters away at (-7.5, -1.0). A unknown object with ID 8 is 8.5 meters away at (6.6, -5.3). A vehicle with ID 28 is 9.6 meters away at (-9.1, -3.0). A vehicle with ID 55 is 11.1 meters away at (2.5, -10.8). A vehicle with ID 60 is 14.3 meters away at (-0.4, -14.3). A vehicle with ID 43 is 15.5 meters away at (-13.7, 7.2). A vehicle with ID 41 is 16.1 meters away at (-15.2, 5.2). A vehicle with ID 27 is 16.1 meters away at (-13.7, -8.4).

The vehicle with ID 32 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-2.7, -3.5) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A vehicle with ID 28 is 5.3 meters away at (-4.0, 3.5). A vehicle with ID 31 is 5.9 meters away at (-2.4, 5.4). A vehicle with ID 30 is 6.6 meters away at (6.6, 0.3). A vehicle with ID 32 is 7.5 meters away at (-0.8, 7.4). A vehicle with ID 27 is 8.8 meters away at (-8.6, -1.9). A vehicle with ID 55 is 8.8 meters away at (7.7, -4.3). A vehicle with ID 60 is 9.1 meters away at (4.7, -7.8). A vehicle with ID 40 is 15.1 meters away at (-11.5, 9.9). A vehicle with ID 41 is 15.2 meters away at (-9.7, 11.7). A vehicle with ID 62 is 15.9 meters away at (-14.7, 6.3).

The vehicle with ID 28 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -3.5) m/s. Its current heading (yaw) is -2.22 radians with an angular velocity of -2.22 rad/s.

The most relevant actors are: A vehicle with ID 27 is 6.0 meters away at (-3.1, 5.1). A vehicle with ID 26 is 7.9 meters away at (-0.0, -7.9). A vehicle with ID 60 is 10.3 meters away at (10.2, -0.8). A vehicle with ID 28 is 10.7 meters away at (1.5, 10.6). A vehicle with ID 29 is 11.2 meters away at (-10.4, -4.2). A vehicle with ID 31 is 12.9 meters away at (3.1, 12.5). A vehicle with ID 55 is 13.5 meters away at (13.2, 2.7). A vehicle with ID 30 is 14.3 meters away at (12.2, 7.3). A vehicle with ID 32 is 15.3 meters away at (4.7, 14.6). A vehicle with ID 35 is 15.4 meters away at (-12.1, 9.5).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.4) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 19 is 12.4 meters away at (-8.4, -9.1). A vehicle with ID 21 is 15.2 meters away at (-9.0, -12.2). A vehicle with ID 23 is 15.3 meters away at (4.6, -14.6). A vehicle with ID 22 is 20.1 meters away at (-10.1, -17.4). A pedestrian with ID 24 is 25.6 meters away at (20.5, 15.3). A unknown object with ID 25 is 32.8 meters away at (29.8, -13.6). A vehicle with ID 26 is 33.7 meters away at (-12.8, -31.1). A unknown object with ID 9 is 37.9 meters away at (29.5, 23.7). A vehicle with ID 20 is 38.8 meters away at (25.1, 29.6). A unknown object with ID 27 is 50.5 meters away at (-9.2, 49.7).

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 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 [ 0.95768744 -0.72305346] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 (-1.2, 0.8) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 19 is 12.2 meters away at (-7.0, -10.0). A vehicle with ID 21 is 15.2 meters away at (-7.7, -13.1). A vehicle with ID 23 is 16.7 meters away at (6.0, -15.6). A vehicle with ID 22 is 20.3 meters away at (-8.5, -18.4). A pedestrian with ID 24 is 27.3 meters away at (23.9, 13.1). A vehicle with ID 26 is 34.0 meters away at (-11.5, -32.0). A unknown object with ID 9 is 38.4 meters away at (30.9, 22.9). A vehicle with ID 20 is 39.1 meters away at (26.5, 28.7). A unknown object with ID 27 is 49.3 meters away at (-7.9, 48.7). A vehicle with ID 18 is 52.1 meters away at (-46.8, 22.8).

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 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 [ 1.1790731  -0.68969667] m/s.The vehicle with ID 26 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 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.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.