The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -4.8) m/s. Its current heading (yaw) is -1.95 radians with an angular velocity of -1.95 rad/s.

The most relevant actors are: A vehicle with ID 11 is 4.2 meters away at (-3.9, -1.7). A vehicle with ID 42 is 5.2 meters away at (-1.8, 4.9). A vehicle with ID 37 is 7.2 meters away at (7.2, 1.0). A pedestrian with ID 44 is 10.9 meters away at (7.0, -8.3). A pedestrian with ID 3 is 11.0 meters away at (7.9, -7.6). A pedestrian with ID 39 is 11.4 meters away at (7.6, -8.5). A vehicle with ID 40 is 12.1 meters away at (-6.7, 10.0). A vehicle with ID 41 is 14.5 meters away at (-9.2, 11.3). A vehicle with ID 23 is 17.0 meters away at (-11.9, 12.1). A vehicle with ID 18 is 19.1 meters away at (-14.3, 12.6).

The vehicle with ID 11 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.3334936 0.9406858] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.31782234 0.96423465] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.29655826 0.9628301 ] 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.8, -0.6) m/s. Its current heading (yaw) is -0.07 radians with an angular velocity of -0.07 rad/s.

The most relevant actors are: A vehicle with ID 36 is 14.3 meters away at (-11.4, -8.6). A vehicle with ID 35 is 16.0 meters away at (-14.1, -7.4). A vehicle with ID 33 is 17.7 meters away at (-16.4, -6.6). A vehicle with ID 43 is 19.1 meters away at (12.7, -14.2). A vehicle with ID 34 is 20.3 meters away at (-19.3, -6.3). A vehicle with ID 46 is 25.0 meters away at (12.7, -21.6). A pedestrian with ID 37 is 28.1 meters away at (-24.8, 13.3). A vehicle with ID 42 is 30.1 meters away at (-6.6, -29.4). A vehicle with ID 45 is 30.3 meters away at (-3.6, -30.0). A unknown object with ID 38 is 37.7 meters away at (-37.7, 0.5).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4568545  -0.32477105] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 43 is 14.0 meters away at (-3.4, -13.6). A vehicle with ID 46 is 21.3 meters away at (-3.4, -21.0). A vehicle with ID 36 is 28.7 meters away at (-27.6, -7.9). A vehicle with ID 35 is 31.1 meters away at (-30.3, -6.9). A vehicle with ID 33 is 33.0 meters away at (-32.5, -6.0). A vehicle with ID 45 is 35.5 meters away at (-19.8, -29.5). A vehicle with ID 34 is 35.9 meters away at (-35.4, -5.7). A vehicle with ID 42 is 36.7 meters away at (-22.7, -28.8). A pedestrian with ID 37 is 40.3 meters away at (-38.1, 13.0). A vehicle with ID 27 is 41.6 meters away at (-15.9, -38.5).

The vehicle with ID 43 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 34 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 37 is traveling at a (x, y) velocity of [ 1.4761987  -0.30371347] 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 (8.6, 0.2) m/s. Its current heading (yaw) is 0.02 radians with an angular velocity of 0.02 rad/s.

The most relevant actors are: A vehicle with ID 43 is 24.4 meters away at (-20.2, -13.7). A unknown object with ID 29 is 44.6 meters away at (41.9, 15.4). A vehicle with ID 36 is 45.2 meters away at (-44.5, -7.9). A vehicle with ID 45 is 47.1 meters away at (-36.7, -29.5). A vehicle with ID 35 is 47.8 meters away at (-47.2, -7.0). A vehicle with ID 42 is 49.1 meters away at (-39.7, -28.9). A vehicle with ID 33 is 49.9 meters away at (-49.5, -6.2). A vehicle with ID 34 is 52.7 meters away at (-52.4, -5.8). A pedestrian with ID 37 is 53.5 meters away at (-52.1, 12.4). A unknown object with ID 38 is 70.9 meters away at (-70.9, 1.0).

The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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 35 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 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.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.4528083  -0.22479306] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 0.5) m/s. Its current heading (yaw) is 0.05 radians with an angular velocity of 0.05 rad/s.

The most relevant actors are: A unknown object with ID 29 is 28.5 meters away at (24.4, 14.7). A vehicle with ID 43 is 40.3 meters away at (-37.7, -14.3). A vehicle with ID 28 is 41.1 meters away at (-7.7, -40.4). A vehicle with ID 22 is 49.7 meters away at (-6.7, -49.2). A vehicle with ID 45 is 62.0 meters away at (-54.2, -30.1). A vehicle with ID 36 is 62.5 meters away at (-61.9, -8.5). A vehicle with ID 42 is 64.3 meters away at (-57.2, -29.4). A vehicle with ID 35 is 65.2 meters away at (-64.8, -7.6). A pedestrian with ID 37 is 67.5 meters away at (-66.5, 11.3).

The unknown object with ID 29 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 28 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 45 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [ 1.3778564  -0.20807251] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -5.1) m/s. Its current heading (yaw) is -1.85 radians with an angular velocity of -1.85 rad/s.

The most relevant actors are: A vehicle with ID 7 is 3.3 meters away at (-3.0, 1.2). A pedestrian with ID 44 is 18.0 meters away at (13.6, 11.7). A pedestrian with ID 8 is 18.7 meters away at (13.9, 12.6). A vehicle with ID 48 is 23.9 meters away at (23.9, -0.5). A vehicle with ID 12 is 28.9 meters away at (28.9, -1.4). A vehicle with ID 46 is 29.2 meters away at (5.5, 28.7). A vehicle with ID 47 is 29.7 meters away at (14.9, 25.7). A vehicle with ID 29 is 31.4 meters away at (31.3, -2.0). A vehicle with ID 24 is 34.0 meters away at (33.9, -2.9). A vehicle with ID 49 is 34.7 meters away at (7.4, 33.9).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00686295 0.06870392] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.03404998 0.38021922] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-1.9, -5.2) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 7 is 11.7 meters away at (0.2, 11.7). A vehicle with ID 32 is 23.6 meters away at (0.4, -23.6). A pedestrian with ID 44 is 28.3 meters away at (17.0, 22.6). A vehicle with ID 48 is 29.1 meters away at (27.3, 10.0). A vehicle with ID 2 is 30.7 meters away at (-18.4, -24.6). A vehicle with ID 12 is 33.5 meters away at (32.3, 9.1). A unknown object with ID 33 is 37.2 meters away at (4.2, 36.9). A vehicle with ID 46 is 40.2 meters away at (8.8, 39.2). A vehicle with ID 47 is 40.6 meters away at (18.3, 36.2). A vehicle with ID 49 is 45.8 meters away at (10.7, 44.5).

The vehicle with ID 7 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 [-4.509473   1.5377034] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.1481936  0.75979006] m/s.The vehicle with ID 48 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 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 47 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 (-0.9, -2.6) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 32 is 14.3 meters away at (-7.9, -11.9). A vehicle with ID 15 is 18.5 meters away at (-18.3, -2.3). A vehicle with ID 7 is 19.9 meters away at (2.9, 19.7). A vehicle with ID 4 is 22.3 meters away at (-22.3, -0.9). A vehicle with ID 2 is 22.9 meters away at (-15.7, -16.6). A vehicle with ID 3 is 25.0 meters away at (-19.6, -15.5). A vehicle with ID 17 is 27.6 meters away at (-22.9, -15.3). A vehicle with ID 18 is 29.8 meters away at (-26.9, -12.8). A vehicle with ID 23 is 31.7 meters away at (29.6, 11.3). A pedestrian with ID 44 is 38.8 meters away at (20.2, 33.2).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.4855666  2.127805 ] m/s.The vehicle with ID 15 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 4 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 17 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.4242003 1.0933504] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.3) m/s. Its current heading (yaw) is -1.83 radians with an angular velocity of -1.83 rad/s.

The most relevant actors are: A cyclist with ID 39 is 11.3 meters away at (-5.0, -10.2). A vehicle with ID 15 is 17.7 meters away at (-17.7, -0.1). A vehicle with ID 2 is 20.8 meters away at (-15.0, -14.4). A vehicle with ID 4 is 21.8 meters away at (-21.7, 1.3). A vehicle with ID 7 is 22.2 meters away at (3.6, 21.9). A vehicle with ID 3 is 23.1 meters away at (-18.8, -13.4). A vehicle with ID 17 is 25.8 meters away at (-22.2, -13.1). A vehicle with ID 18 is 28.4 meters away at (-26.3, -10.7). A vehicle with ID 23 is 33.1 meters away at (30.3, 13.5). A vehicle with ID 45 is 43.4 meters away at (-6.7, -42.8).

The cyclist with ID 39 is traveling at a (x, y) velocity of [-0.15144873  0.14169276] m/s.The vehicle with ID 15 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 4 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 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 18 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 1.3) m/s. Its current heading (yaw) is 1.07 radians with an angular velocity of 1.07 rad/s.

The most relevant actors are: A vehicle with ID 7 is 14.5 meters away at (-1.7, -14.4). A pedestrian with ID 9 is 18.4 meters away at (3.6, -18.0). A unknown object with ID 4 is 29.1 meters away at (5.1, -28.6). A vehicle with ID 10 is 38.5 meters away at (19.5, -33.2). A vehicle with ID 11 is 65.5 meters away at (-6.5, 65.2).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.42136547 -0.8933869 ] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0.3315148 3.4774535] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 2.0) m/s. Its current heading (yaw) is 1.43 radians with an angular velocity of 1.43 rad/s.

The most relevant actors are: A vehicle with ID 7 is 17.8 meters away at (-2.8, -17.6). A pedestrian with ID 9 is 23.4 meters away at (3.4, -23.2). A vehicle with ID 10 is 40.8 meters away at (18.3, -36.4). A vehicle with ID 11 is 69.2 meters away at (-6.9, 68.8). A pedestrian with ID 5 is 70.9 meters away at (22.4, -67.3).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.5366297 -1.1027157] m/s.The vehicle with ID 10 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 [0.30973524 3.4840991 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01215325  0.01387407] 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, 2.5) m/s. Its current heading (yaw) is 1.75 radians with an angular velocity of 1.75 rad/s.

The most relevant actors are: A vehicle with ID 7 is 22.2 meters away at (-2.8, -22.1). A pedestrian with ID 9 is 29.9 meters away at (4.3, -29.6). A vehicle with ID 10 is 44.9 meters away at (18.4, -41.0). A vehicle with ID 11 is 71.1 meters away at (-6.1, 70.9). A pedestrian with ID 5 is 75.9 meters away at (22.3, -72.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.40049073 -0.94009906] m/s.The vehicle with ID 10 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 [0.32137018 3.2403078 ] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.1663124  -0.10456329] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.8) m/s. Its current heading (yaw) is 1.85 radians with an angular velocity of 1.85 rad/s.

The most relevant actors are: A vehicle with ID 7 is 27.3 meters away at (-1.4, -27.2). A pedestrian with ID 3 is 27.6 meters away at (-3.9, -27.3). A pedestrian with ID 9 is 37.0 meters away at (6.6, -36.4). A vehicle with ID 10 is 50.2 meters away at (19.8, -46.1). A vehicle with ID 11 is 72.5 meters away at (-4.1, 72.4).

The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.9058194   0.44743145] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.5833884  -0.85307497] m/s.The vehicle with ID 10 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 [0.46507576 3.5870948 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -1.5) m/s. Its current heading (yaw) is -1.78 radians with an angular velocity of -1.78 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 4.0 meters away at (3.8, 1.4). A pedestrian with ID 12 is 4.5 meters away at (4.0, 2.0). A pedestrian with ID 14 is 9.0 meters away at (5.6, 7.0). A cyclist with ID 24 is 30.8 meters away at (-10.4, -29.0). A vehicle with ID 25 is 61.4 meters away at (-5.0, -61.2). A vehicle with ID 26 is 72.8 meters away at (-4.4, -72.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00864557 0.0015355 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.0149481   0.01028152] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.01877576 -0.02426681] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.4809929 10.145058 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.00850116 -0.48558474] 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 (-0.7, -0.9) m/s. Its current heading (yaw) is -2.21 radians with an angular velocity of -2.21 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 5.7 meters away at (4.5, 3.5). A pedestrian with ID 12 is 6.3 meters away at (4.8, 4.0). A unknown object with ID 2 is 7.3 meters away at (7.0, 2.1). A pedestrian with ID 14 is 11.2 meters away at (6.4, 9.2). A cyclist with ID 24 is 12.6 meters away at (-10.2, -7.4). A vehicle with ID 25 is 62.6 meters away at (-4.8, -62.4). A vehicle with ID 26 is 70.7 meters away at (-3.8, -70.6).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00405608 -0.00093558] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.09138893 -0.07775532] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00454866 -0.00702063] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.33373517  9.544003  ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.6785033 -2.379697 ] m/s.The vehicle with ID 26 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 (-0.4, -0.4) m/s. Its current heading (yaw) is -2.40 radians with an angular velocity of -2.40 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 7.5 meters away at (5.7, 4.9). A pedestrian with ID 12 is 8.0 meters away at (5.9, 5.4). A unknown object with ID 2 is 8.9 meters away at (8.1, 3.5). A cyclist with ID 24 is 16.4 meters away at (-10.0, 13.0). A vehicle with ID 25 is 67.7 meters away at (-5.5, -67.5). A vehicle with ID 26 is 69.3 meters away at (-2.9, -69.3).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.02493649  0.00651166] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.02806189  0.02709376] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.5064258  9.838202 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.8675443 -4.211754 ] m/s.The vehicle with ID 26 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 (-0.9, -0.7) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 8.7 meters away at (6.6, 5.7). A pedestrian with ID 12 is 9.3 meters away at (6.8, 6.2). A unknown object with ID 2 is 10.0 meters away at (9.0, 4.3). A pedestrian with ID 11 is 14.2 meters away at (8.6, 11.3). A cyclist with ID 24 is 34.5 meters away at (-9.6, 33.1). A unknown object with ID 1 is 44.0 meters away at (17.3, -40.4). A vehicle with ID 26 is 68.5 meters away at (-1.9, -68.5). A vehicle with ID 25 is 76.9 meters away at (-5.0, -76.7).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.02490349 0.02018401] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.02853562 -0.00112927] m/s.The unknown object with ID 2 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 [ 0.04812529 -0.00140986] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.267155  9.737664] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.02865727 -5.81723   ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.2) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.2, -7.0). A vehicle with ID 17 is 11.5 meters away at (10.4, -5.0). A vehicle with ID 18 is 13.6 meters away at (8.0, -11.0). A pedestrian with ID 12 is 13.9 meters away at (10.4, 9.3). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.5). A unknown object with ID 14 is 18.6 meters away at (-13.5, -12.8). A vehicle with ID 13 is 18.6 meters away at (-16.5, -8.7). A unknown object with ID 23 is 19.3 meters away at (-15.1, -12.1). A unknown object with ID 24 is 20.3 meters away at (-16.7, -11.4). A unknown object with ID 27 is 21.5 meters away at (-18.7, -10.5).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1934208 -1.0068665] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.01812353 -0.03733704] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-8.298517  3.814525] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 17 is 11.3 meters away at (10.2, -5.0). A vehicle with ID 18 is 13.3 meters away at (7.7, -10.9). A pedestrian with ID 12 is 13.9 meters away at (11.9, 7.2). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.6). A unknown object with ID 23 is 19.5 meters away at (-15.3, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.2, -11.3). A unknown object with ID 27 is 21.7 meters away at (-19.0, -10.5). A unknown object with ID 31 is 23.3 meters away at (-21.3, -9.5). A unknown object with ID 32 is 25.4 meters away at (-24.0, -8.3).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.9618691 -1.1013893] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.04444488 -0.01390618] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 unknown object with ID 31 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 11 is 7.0 meters away at (-0.6, -6.9). A vehicle with ID 17 is 11.2 meters away at (10.1, -5.0). A vehicle with ID 18 is 13.3 meters away at (7.6, -10.8). A cyclist with ID 21 is 14.3 meters away at (13.5, -4.6). A pedestrian with ID 12 is 14.6 meters away at (13.7, 5.0). A unknown object with ID 23 is 19.5 meters away at (-15.4, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.3, -11.3). A unknown object with ID 27 is 21.8 meters away at (-19.1, -10.5). A unknown object with ID 31 is 23.4 meters away at (-21.3, -9.5). A unknown object with ID 32 is 25.5 meters away at (-24.1, -8.3).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00227848  0.0113368 ] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.90882576 -1.0497974 ] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 unknown object with ID 31 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.38 radians with an angular velocity of -0.38 rad/s.

The most relevant actors are: A vehicle with ID 11 is 6.9 meters away at (-0.7, -6.9). A vehicle with ID 17 is 11.2 meters away at (10.0, -5.0). A vehicle with ID 18 is 13.2 meters away at (7.6, -10.8). A cyclist with ID 21 is 14.2 meters away at (13.5, -4.5). A pedestrian with ID 12 is 15.8 meters away at (15.6, 2.9). A unknown object with ID 23 is 19.5 meters away at (-15.4, -12.0). A unknown object with ID 24 is 20.6 meters away at (-17.3, -11.2). A unknown object with ID 27 is 21.8 meters away at (-19.1, -10.5). A unknown object with ID 31 is 23.4 meters away at (-21.4, -9.5). A unknown object with ID 32 is 25.5 meters away at (-24.1, -8.3).

The vehicle with ID 11 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.00406197 -0.00445266] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.9640787 -1.1508414] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 unknown object with ID 31 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -1.9) m/s. Its current heading (yaw) is -0.29 radians with an angular velocity of -0.29 rad/s.

The most relevant actors are: A unknown object with ID 14 is 15.8 meters away at (-0.7, -15.8). A vehicle with ID 17 is 24.5 meters away at (-19.3, 15.2). A vehicle with ID 18 is 45.8 meters away at (39.2, -23.7). A vehicle with ID 20 is 47.0 meters away at (37.4, -28.3). A vehicle with ID 19 is 68.6 meters away at (-64.9, 22.3).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -2.3) 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 unknown object with ID 14 is 18.0 meters away at (-13.9, -11.4). A vehicle with ID 18 is 32.3 meters away at (26.0, -19.2). A vehicle with ID 20 is 34.0 meters away at (24.1, -24.0). A vehicle with ID 11 is 37.0 meters away at (22.3, -29.5). A vehicle with ID 17 is 38.0 meters away at (-32.6, 19.6).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.2) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 18 is 19.3 meters away at (12.5, -14.7). A vehicle with ID 20 is 22.1 meters away at (10.8, -19.3). A vehicle with ID 12 is 25.8 meters away at (15.3, 20.7). A vehicle with ID 11 is 26.5 meters away at (8.8, -25.0). A unknown object with ID 14 is 28.1 meters away at (-27.3, -6.9). A vehicle with ID 15 is 32.7 meters away at (18.0, 27.3). A vehicle with ID 17 is 52.0 meters away at (-46.1, 24.1).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -2.1) 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 18 is 10.3 meters away at (-0.6, -10.3). A vehicle with ID 20 is 15.1 meters away at (-2.4, -14.9). A vehicle with ID 11 is 20.9 meters away at (-4.3, -20.5). A pedestrian with ID 9 is 23.5 meters away at (-9.9, -21.3). A vehicle with ID 12 is 25.2 meters away at (2.3, 25.1). A vehicle with ID 15 is 32.1 meters away at (4.8, 31.7). A vehicle with ID 17 is 65.9 meters away at (-59.3, 28.7). A pedestrian with ID 3 is 75.0 meters away at (74.2, -10.8). A pedestrian with ID 4 is 75.2 meters away at (74.3, -11.6). A cyclist with ID 16 is 76.2 meters away at (70.7, -28.5).

The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00575066  0.00494605] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.9751666  0.37630776] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.92683464 0.42076382] m/s.The cyclist with ID 16 is traveling at a (x, y) velocity of [-0.00279372  0.03694043] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.7) m/s. Its current heading (yaw) is -1.75 radians with an angular velocity of -1.75 rad/s.

The most relevant actors are: A vehicle with ID 42 is 3.5 meters away at (-3.4, -1.1). A vehicle with ID 3 is 6.9 meters away at (-1.8, -6.7). A pedestrian with ID 7 is 8.9 meters away at (-7.4, -5.0). A vehicle with ID 8 is 12.7 meters away at (4.5, 11.8). A vehicle with ID 43 is 15.2 meters away at (2.1, -15.0). A vehicle with ID 44 is 17.8 meters away at (-6.0, -16.8). A vehicle with ID 45 is 21.7 meters away at (4.3, 21.3). A vehicle with ID 46 is 27.0 meters away at (6.0, 26.3). A vehicle with ID 48 is 28.5 meters away at (-4.2, -28.1). A vehicle with ID 47 is 28.7 meters away at (27.5, 8.1).

The vehicle with ID 42 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 [-0.40210596 -1.0140202 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.39210978 -1.1703798 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.8331966 -2.2821543] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-1.5266205 -1.8560767] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [ 6.8967443 -2.6777775] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.2) m/s. Its current heading (yaw) is -1.86 radians with an angular velocity of -1.86 rad/s.

The most relevant actors are: A vehicle with ID 42 is 3.1 meters away at (-3.0, 0.9). A vehicle with ID 3 is 7.9 meters away at (-2.6, -7.5). A pedestrian with ID 7 is 9.5 meters away at (-7.8, -5.5). A vehicle with ID 8 is 10.9 meters away at (3.6, 10.3). A vehicle with ID 43 is 13.2 meters away at (2.5, -13.0). A vehicle with ID 44 is 20.6 meters away at (-10.1, -18.0). A vehicle with ID 45 is 23.9 meters away at (4.6, 23.4). A vehicle with ID 46 is 29.1 meters away at (6.3, 28.4). A vehicle with ID 47 is 29.6 meters away at (27.8, 10.1). A vehicle with ID 25 is 30.4 meters away at (-19.0, -23.7).

The vehicle with ID 42 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 [-0.80064213 -2.1175978 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.40095922 -1.3028357 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.67327124 -1.7596191 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-2.8420138 -0.7450824] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.7) m/s. Its current heading (yaw) is -1.86 radians with an angular velocity of -1.86 rad/s.

The most relevant actors are: A vehicle with ID 42 is 4.2 meters away at (-2.2, 3.6). A pedestrian with ID 7 is 9.3 meters away at (-7.8, -5.1). A vehicle with ID 8 is 9.6 meters away at (3.0, 9.2). A vehicle with ID 3 is 10.2 meters away at (-3.4, -9.6). A vehicle with ID 43 is 10.7 meters away at (3.3, -10.2). A vehicle with ID 34 is 21.7 meters away at (-14.9, -15.7). A vehicle with ID 44 is 22.2 meters away at (-15.9, -15.5). A vehicle with ID 45 is 26.7 meters away at (5.4, 26.2). A vehicle with ID 25 is 27.7 meters away at (-18.3, -20.9). A pedestrian with ID 4 is 31.0 meters away at (-14.8, -27.2).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.41470662 -1.1146656 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.647592  -1.8887031] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.0221926 -3.1503105] m/s.The vehicle with ID 43 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 [-3.8817322   0.82057756] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-3.9312718  0.8991766] m/s.The vehicle with ID 45 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 pedestrian with ID 4 is traveling at a (x, y) velocity of [0.35508037 1.0898635 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, -2.2) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 42 is 7.6 meters away at (-0.9, 7.5). A vehicle with ID 43 is 7.8 meters away at (4.6, -6.3). A pedestrian with ID 7 is 8.1 meters away at (-7.2, -3.5). A vehicle with ID 8 is 9.8 meters away at (3.0, 9.3). A vehicle with ID 3 is 16.3 meters away at (-5.3, -15.4). A vehicle with ID 31 is 22.1 meters away at (-22.0, -2.0). A vehicle with ID 25 is 23.9 meters away at (-17.0, -16.8). A pedestrian with ID 4 is 24.8 meters away at (-12.9, -21.2). A vehicle with ID 44 is 26.1 meters away at (-25.0, -7.2). A vehicle with ID 45 is 30.9 meters away at (6.8, 30.1).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.39301902 -1.2723857 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-0.6332785 -1.9398603] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.183068  -6.5408044] m/s.The vehicle with ID 31 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 pedestrian with ID 4 is traveling at a (x, y) velocity of [0.23703107 1.035285  ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-5.452377   2.1781576] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) 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 61 is 5.9 meters away at (1.9, 5.6). A vehicle with ID 64 is 8.1 meters away at (-7.8, 2.2). A vehicle with ID 62 is 8.1 meters away at (-3.4, 7.4). A vehicle with ID 65 is 14.2 meters away at (-14.1, 1.6). A vehicle with ID 67 is 17.4 meters away at (5.4, -16.5). A vehicle with ID 66 is 18.1 meters away at (-14.2, 11.1). A vehicle with ID 69 is 19.3 meters away at (-3.8, -18.9). A vehicle with ID 68 is 19.5 meters away at (-19.1, 3.6). A vehicle with ID 70 is 19.8 meters away at (-7.5, -18.4). A vehicle with ID 71 is 21.4 meters away at (15.8, 14.4).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 1.0853262 -0.4012495] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -0.9) 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 61 is 6.3 meters away at (-0.2, 6.3). A vehicle with ID 64 is 9.3 meters away at (-8.9, 2.6). A vehicle with ID 62 is 9.8 meters away at (-5.5, 8.2). A vehicle with ID 67 is 16.1 meters away at (3.2, -15.8). A vehicle with ID 65 is 16.4 meters away at (-16.3, 2.4). A vehicle with ID 69 is 19.2 meters away at (-5.9, -18.3). A pedestrian with ID 73 is 19.8 meters away at (19.5, -3.8). A vehicle with ID 70 is 20.1 meters away at (-9.6, -17.7). A vehicle with ID 66 is 20.2 meters away at (-16.3, 11.8). A vehicle with ID 72 is 20.4 meters away at (1.7, -20.3).

The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 0.48257956 -0.16283534] m/s.The vehicle with ID 62 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.4600305 1.1922172] m/s.The vehicle with ID 70 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, -2.0) 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 pedestrian with ID 73 is 11.8 meters away at (11.7, 1.2). A vehicle with ID 61 is 12.7 meters away at (-8.7, 9.3). A pedestrian with ID 43 is 12.7 meters away at (6.1, -11.1). A vehicle with ID 67 is 13.9 meters away at (-5.3, -12.8). A vehicle with ID 83 is 13.9 meters away at (0.7, -13.9). A vehicle with ID 64 is 14.5 meters away at (-13.9, 4.4). A pedestrian with ID 54 is 15.3 meters away at (7.8, -13.1). A vehicle with ID 62 is 18.0 meters away at (-14.1, 11.2). A vehicle with ID 77 is 18.6 meters away at (9.0, -16.2). A vehicle with ID 72 is 18.6 meters away at (-6.7, -17.4).

The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.30982652 1.0207757 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0.23017064 0.7115355 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 2.487621  -0.8503052] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.00676461 -0.01028119] m/s.The vehicle with ID 62 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 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -2.6) 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 20 is 3.8 meters away at (2.7, 2.7). A pedestrian with ID 73 is 8.2 meters away at (-1.3, 8.0). A pedestrian with ID 43 is 9.7 meters away at (-7.2, -6.6). A pedestrian with ID 54 is 10.2 meters away at (-5.5, -8.6). A vehicle with ID 58 is 11.4 meters away at (9.3, -6.5). A vehicle with ID 83 is 12.2 meters away at (-11.2, -4.8). A vehicle with ID 77 is 12.5 meters away at (-4.3, -11.8). A vehicle with ID 59 is 16.3 meters away at (16.3, 0.5). A unknown object with ID 60 is 19.4 meters away at (14.5, -12.9). A vehicle with ID 67 is 20.3 meters away at (-18.6, -8.2).

The vehicle with ID 20 is traveling at a (x, y) velocity of [-0.44198823  0.15495446] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.32938784 1.0895466 ] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01682548 -0.00749965] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.03424307 0.0075912 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [1.4341464 4.6259384] m/s.The vehicle with ID 77 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 unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, -8.3) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A pedestrian with ID 113 is 5.8 meters away at (-5.8, 0.6). A vehicle with ID 109 is 6.3 meters away at (6.2, -1.3). A vehicle with ID 111 is 6.6 meters away at (3.6, -5.5). A vehicle with ID 104 is 8.9 meters away at (8.5, 2.7). A vehicle with ID 103 is 12.8 meters away at (11.0, 6.6). A vehicle with ID 101 is 17.3 meters away at (13.6, 10.7). A vehicle with ID 100 is 22.4 meters away at (16.4, 15.3). A vehicle with ID 106 is 22.5 meters away at (14.2, 17.5). A vehicle with ID 102 is 27.7 meters away at (19.2, 20.0). A vehicle with ID 105 is 33.0 meters away at (21.9, 24.6).

The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.0268387 1.4102175] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [4.8959475 7.9806232] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -8.4) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 111 is 17.7 meters away at (13.8, 11.1). A pedestrian with ID 113 is 21.1 meters away at (6.1, 20.2). A vehicle with ID 109 is 22.4 meters away at (16.3, 15.4). A vehicle with ID 123 is 25.9 meters away at (-8.3, -24.6). A vehicle with ID 104 is 26.9 meters away at (18.6, 19.4). A vehicle with ID 103 is 31.5 meters away at (21.1, 23.3). A vehicle with ID 126 is 31.5 meters away at (-11.4, -29.4). A vehicle with ID 101 is 36.2 meters away at (23.7, 27.4). A vehicle with ID 127 is 36.9 meters away at (-14.2, -34.1). A vehicle with ID 100 is 41.6 meters away at (26.5, 32.0).

The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [0.88154495 1.4537238 ] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, -8.5) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A pedestrian with ID 72 is 6.5 meters away at (-6.0, 2.3). A vehicle with ID 123 is 7.9 meters away at (2.2, -7.6). A vehicle with ID 126 is 12.4 meters away at (-0.9, -12.4). A vehicle with ID 127 is 17.4 meters away at (-3.6, -17.1). A vehicle with ID 66 is 22.6 meters away at (-6.4, -21.7). A vehicle with ID 45 is 28.1 meters away at (-9.4, -26.5). A vehicle with ID 47 is 32.9 meters away at (-12.2, -30.5). A vehicle with ID 111 is 37.1 meters away at (24.2, 28.1). A vehicle with ID 60 is 39.2 meters away at (-15.3, -36.1). A pedestrian with ID 43 is 41.7 meters away at (-24.8, -33.6).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [-0.6742773  -0.98321265] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [ 0.01394602 -0.01395334] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -8.2) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 66 is 6.4 meters away at (3.8, -5.1). A vehicle with ID 127 is 6.6 meters away at (6.6, -0.5). A vehicle with ID 45 is 10.0 meters away at (0.9, -9.9). A vehicle with ID 126 is 10.1 meters away at (9.2, 4.1). A vehicle with ID 47 is 14.1 meters away at (-1.9, -13.9). A vehicle with ID 123 is 15.2 meters away at (12.3, 8.9). A vehicle with ID 60 is 20.1 meters away at (-5.1, -19.4). A pedestrian with ID 43 is 22.4 meters away at (-14.6, -16.9). A vehicle with ID 70 is 34.2 meters away at (-29.6, -17.0). A vehicle with ID 68 is 41.1 meters away at (-39.6, -10.8).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 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 126 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 123 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 pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.01689168 -0.00586905] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, -4.7) m/s. Its current heading (yaw) is -2.46 radians with an angular velocity of -2.46 rad/s.

The most relevant actors are: A vehicle with ID 28 is 9.4 meters away at (9.4, -0.6). A vehicle with ID 33 is 22.8 meters away at (-11.9, -19.5). A vehicle with ID 31 is 28.5 meters away at (1.4, -28.4). A cyclist with ID 32 is 31.6 meters away at (4.4, -31.3). A vehicle with ID 30 is 43.8 meters away at (-30.2, -31.7). A pedestrian with ID 29 is 44.0 meters away at (-33.3, -28.7). A pedestrian with ID 35 is 45.8 meters away at (-34.8, -29.7). A vehicle with ID 22 is 46.5 meters away at (-28.1, -37.1). A vehicle with ID 16 is 65.0 meters away at (-40.0, -51.2).

The vehicle with ID 28 is traveling at a (x, y) velocity of [9.734052 8.112157] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.057095 7.163551] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 32 is traveling at a (x, y) velocity of [-0.01260365 -0.01140098] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [-7.2019176 -7.752205 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.03607666  0.02635966] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.02866017 -0.00026682] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [4.1440215 4.799869 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [2.5736103 2.9348893] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -3.6) 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 vehicle with ID 33 is 16.1 meters away at (15.3, 5.1). A unknown object with ID 13 is 17.9 meters away at (8.8, 15.6). A vehicle with ID 22 is 18.7 meters away at (-7.7, -17.1). A unknown object with ID 19 is 21.6 meters away at (14.8, 15.8). A vehicle with ID 31 is 22.8 meters away at (11.6, -19.7). A cyclist with ID 32 is 26.9 meters away at (14.8, -22.5). A vehicle with ID 6 is 29.2 meters away at (-29.1, 2.4). A pedestrian with ID 29 is 30.8 meters away at (-23.6, -19.8). A pedestrian with ID 35 is 32.3 meters away at (-24.4, -21.2). A vehicle with ID 16 is 41.5 meters away at (-22.8, -34.7).

The vehicle with ID 33 is traveling at a (x, y) velocity of [9.816608 8.585709] m/s.The unknown object with ID 13 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 [5.994139 6.428642] m/s.The unknown object with ID 19 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 cyclist with ID 32 is traveling at a (x, y) velocity of [0.02379231 0.01762759] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 4.068854  -2.8011992] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.49706858 -0.1780895 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01305206 0.03989734] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [4.5910926 5.148329 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -0.1) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A vehicle with ID 22 is 14.8 meters away at (14.8, 1.1). A vehicle with ID 6 is 15.3 meters away at (-15.1, 2.6). A vehicle with ID 16 is 18.6 meters away at (-3.4, -18.3). A pedestrian with ID 26 is 21.8 meters away at (-14.1, -16.6). A pedestrian with ID 29 is 22.2 meters away at (-15.5, -15.9). A pedestrian with ID 35 is 23.3 meters away at (-15.8, -17.2). A vehicle with ID 31 is 25.4 meters away at (20.1, -15.5). A unknown object with ID 13 is 26.3 meters away at (17.2, 19.8). A unknown object with ID 19 is 30.7 meters away at (23.1, 20.2). A vehicle with ID 33 is 52.9 meters away at (45.4, 27.1).

The vehicle with ID 22 is traveling at a (x, y) velocity of [7.9740334 7.305416 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [ 1.3650625 -0.9016799] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [6.3932076 7.1608562] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.01684633 -0.00106759] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01715422 -0.14068864] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.0166264  -0.00591628] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [11.545962  9.354418] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 2.9) m/s. Its current heading (yaw) is 2.62 radians with an angular velocity of 2.62 rad/s.

The most relevant actors are: A vehicle with ID 6 is 5.5 meters away at (-5.3, -1.1). A pedestrian with ID 29 is 19.9 meters away at (-6.4, -18.8). A vehicle with ID 16 is 20.8 meters away at (19.7, -6.8). A pedestrian with ID 35 is 21.4 meters away at (-7.0, -20.2). A vehicle with ID 31 is 34.6 meters away at (29.0, -18.9). A unknown object with ID 19 is 36.2 meters away at (32.0, 17.0). A vehicle with ID 7 is 42.1 meters away at (38.6, 17.0). A vehicle with ID 22 is 42.9 meters away at (41.0, 12.5). A vehicle with ID 4 is 56.0 meters away at (-53.7, -16.0). A vehicle with ID 11 is 60.6 meters away at (54.0, 27.4).

The vehicle with ID 6 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 [0.1424007  0.01662572] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [7.9137526 7.6538653] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.01360283 0.06172764] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-8.650464  -6.0195026] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [9.191415 7.553999] m/s.The vehicle with ID 4 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 [-8.970194 -7.410177] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 0.5) m/s. Its current heading (yaw) is 2.76 radians with an angular velocity of 2.76 rad/s.

The most relevant actors are: A vehicle with ID 36 is 10.0 meters away at (-7.5, -6.6). A unknown object with ID 51 is 20.7 meters away at (-11.7, -17.0). A unknown object with ID 12 is 26.1 meters away at (-11.8, -23.3). A unknown object with ID 9 is 26.3 meters away at (-14.9, -21.6). A unknown object with ID 17 is 27.5 meters away at (-14.0, -23.6). A unknown object with ID 41 is 27.7 meters away at (21.9, -17.0). A pedestrian with ID 40 is 28.2 meters away at (28.1, -2.1). A unknown object with ID 42 is 28.3 meters away at (22.5, -17.1). A unknown object with ID 44 is 28.9 meters away at (23.8, -16.4). A unknown object with ID 46 is 31.0 meters away at (25.8, -17.1).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.9149668 -1.7213359] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.2398396 -0.4591447] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 1.3) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A vehicle with ID 36 is 16.4 meters away at (-9.4, -13.5). A unknown object with ID 51 is 20.4 meters away at (-8.1, -18.7). A unknown object with ID 39 is 21.8 meters away at (-9.7, -19.5). A unknown object with ID 23 is 22.1 meters away at (-6.8, -21.0). A unknown object with ID 21 is 23.9 meters away at (-10.6, -21.4). A unknown object with ID 9 is 26.1 meters away at (-11.4, -23.5). A unknown object with ID 17 is 27.4 meters away at (-10.3, -25.4). A unknown object with ID 41 is 31.5 meters away at (25.5, -18.6). A unknown object with ID 42 is 31.9 meters away at (26.0, -18.4). A unknown object with ID 44 is 32.8 meters away at (27.4, -18.0).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.6108575 -3.7063801] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 3.0) m/s. Its current heading (yaw) is 2.05 radians with an angular velocity of 2.05 rad/s.

The most relevant actors are: A pedestrian with ID 20 is 21.2 meters away at (-0.5, -21.2). A unknown object with ID 51 is 23.5 meters away at (-3.9, -23.2). A unknown object with ID 39 is 24.7 meters away at (-5.6, -24.0). A unknown object with ID 23 is 25.5 meters away at (-2.7, -25.4). A unknown object with ID 21 is 26.7 meters away at (-6.5, -25.9). A unknown object with ID 29 is 27.6 meters away at (-3.3, -27.4). A unknown object with ID 9 is 28.7 meters away at (-7.2, -27.7). A vehicle with ID 36 is 28.9 meters away at (-9.7, -27.3). A vehicle with ID 58 is 29.3 meters away at (25.9, -13.8). A unknown object with ID 14 is 29.5 meters away at (-4.0, -29.2).

The pedestrian with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 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 unknown object with ID 21 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.243018  -5.4575157] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [-6.6678157  2.8315299] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, 5.4) m/s. Its current heading (yaw) is 1.44 radians with an angular velocity of 1.44 rad/s.

The most relevant actors are: A vehicle with ID 58 is 23.8 meters away at (16.1, -17.5). A pedestrian with ID 20 is 29.5 meters away at (0.9, -29.5). A unknown object with ID 18 is 30.2 meters away at (21.4, 21.4). A unknown object with ID 51 is 31.6 meters away at (-2.5, -31.5). A pedestrian with ID 3 is 32.6 meters away at (8.9, 31.3). A unknown object with ID 39 is 32.7 meters away at (-4.3, -32.4). A unknown object with ID 23 is 33.8 meters away at (-1.4, -33.8). A unknown object with ID 21 is 34.7 meters away at (-5.1, -34.3). A unknown object with ID 29 is 35.8 meters away at (-1.9, -35.7). A unknown object with ID 9 is 36.9 meters away at (-6.0, -36.4).

The vehicle with ID 58 is traveling at a (x, y) velocity of [-4.2675705  1.8354424] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.00379706 0.01766285] 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 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.39217055 1.0569948 ] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 1.0) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 22 is 5.2 meters away at (-4.8, 2.1). A pedestrian with ID 33 is 5.5 meters away at (4.2, -3.6). A pedestrian with ID 34 is 5.7 meters away at (3.9, -4.2). A vehicle with ID 21 is 6.9 meters away at (-1.1, 6.8). A pedestrian with ID 13 is 9.1 meters away at (7.3, -5.4). A pedestrian with ID 28 is 10.8 meters away at (-3.7, -10.1). A pedestrian with ID 29 is 12.6 meters away at (-7.8, 9.9). A pedestrian with ID 36 is 14.2 meters away at (14.2, 1.1). A vehicle with ID 26 is 15.9 meters away at (-14.3, -6.9). A pedestrian with ID 47 is 17.9 meters away at (17.4, 4.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [4.462854  1.5145053] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6993219 -0.5901805] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.9403239 -0.5180983] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.00428395 0.05496815] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [0.02038747 0.03517288] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.3680912 0.6232759] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.04005742 0.02212555] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [4.500696 3.452108] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [1.4147335 0.8562318] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.1) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 22 is 4.4 meters away at (0.8, 4.3). A pedestrian with ID 33 is 5.3 meters away at (0.6, -5.3). A pedestrian with ID 34 is 6.0 meters away at (0.6, -5.9). A vehicle with ID 21 is 6.4 meters away at (-2.4, 6.0). A pedestrian with ID 11 is 8.5 meters away at (-0.8, -8.5). A vehicle with ID 26 is 8.6 meters away at (-8.4, -2.0). A pedestrian with ID 29 is 11.8 meters away at (-6.4, 10.0). A pedestrian with ID 28 is 12.0 meters away at (-5.0, -10.9). A vehicle with ID 31 is 13.2 meters away at (-13.2, -0.5). A pedestrian with ID 42 is 17.8 meters away at (16.8, 5.8).

The vehicle with ID 22 is traveling at a (x, y) velocity of [1.9860535 1.0722617] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1704673  -0.50042135] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1175951 -0.567098 ] m/s.The vehicle with ID 21 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 [ 0.00798093 -0.00723868] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [2.7883885 2.1575856] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.1977967 0.6581266] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.00190558  0.00156198] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [2.5630968 1.576642 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.4002396 -1.0771129] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 26 is 4.6 meters away at (-4.5, 0.7). A vehicle with ID 22 is 5.4 meters away at (2.0, 5.0). A vehicle with ID 21 is 6.4 meters away at (-2.6, 5.8). A pedestrian with ID 33 is 6.7 meters away at (-1.8, -6.4). A pedestrian with ID 34 is 7.4 meters away at (-1.7, -7.2). A pedestrian with ID 9 is 8.6 meters away at (5.8, -6.3). A vehicle with ID 31 is 9.8 meters away at (-9.6, 1.7). A pedestrian with ID 29 is 11.3 meters away at (-3.7, 10.7). A pedestrian with ID 28 is 12.2 meters away at (-5.2, -11.1). A vehicle with ID 45 is 14.0 meters away at (-13.4, -4.0).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0.8860937 0.6202538] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-1.1122975 -0.6520273] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.0985048  -0.67511904] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00810958 -0.01076997] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0.99438125 0.6390839 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [1.2495838  0.61745805] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.03232946  0.00561291] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [1.871887   0.93689245] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 26 is 3.9 meters away at (-3.7, 1.2). A vehicle with ID 22 is 5.4 meters away at (2.0, 5.0). A vehicle with ID 21 is 6.4 meters away at (-2.6, 5.8). A pedestrian with ID 33 is 8.5 meters away at (-3.9, -7.6). A vehicle with ID 31 is 9.0 meters away at (-8.7, 2.2). A pedestrian with ID 34 is 9.2 meters away at (-3.7, -8.4). A pedestrian with ID 42 is 11.2 meters away at (11.1, 1.3). A vehicle with ID 45 is 11.6 meters away at (-11.3, -2.8). A pedestrian with ID 28 is 12.3 meters away at (-5.3, -11.0). A pedestrian with ID 29 is 12.5 meters away at (-1.5, 12.4).

The vehicle with ID 26 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 21 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 [-0.98276705 -0.6216055 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.96354336 -0.5974401 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2929338 -1.0396433] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0.5021247  0.28648084] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.01334117 -0.01128804] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.7627417 1.2067571] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.3) 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 16 is 9.3 meters away at (8.8, -3.0). A vehicle with ID 14 is 12.2 meters away at (2.4, 12.0). A vehicle with ID 17 is 19.1 meters away at (-17.1, 8.6). A vehicle with ID 20 is 20.9 meters away at (11.8, 17.2). A vehicle with ID 24 is 21.7 meters away at (20.7, -6.7). A vehicle with ID 25 is 22.3 meters away at (22.2, 2.2). A vehicle with ID 26 is 25.8 meters away at (12.8, 22.4). A vehicle with ID 35 is 27.7 meters away at (26.4, -8.4). A vehicle with ID 30 is 27.9 meters away at (1.5, 27.9). A vehicle with ID 29 is 29.6 meters away at (-28.2, 9.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.89305  -2.632877] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.30 radians with an angular velocity of -0.30 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (0.5, 3.3). A vehicle with ID 16 is 8.6 meters away at (8.1, -2.8). A vehicle with ID 14 is 12.2 meters away at (1.8, 12.1). A vehicle with ID 20 is 20.8 meters away at (11.3, 17.5). A vehicle with ID 24 is 21.2 meters away at (20.1, -6.5). A vehicle with ID 25 is 21.8 meters away at (21.6, 2.4). A vehicle with ID 26 is 25.7 meters away at (12.3, 22.6). A vehicle with ID 35 is 27.2 meters away at (25.9, -8.2). A vehicle with ID 30 is 28.1 meters away at (1.1, 28.1). A vehicle with ID 29 is 30.2 meters away at (-28.8, 9.3).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.859696  -2.8223128] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -0.30 radians with an angular velocity of -0.30 rad/s.

The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (8.1, -2.7). A vehicle with ID 14 is 12.2 meters away at (1.7, 12.1). A vehicle with ID 17 is 18.5 meters away at (18.4, -2.6). A vehicle with ID 20 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 24 is 21.1 meters away at (20.0, -6.5). A vehicle with ID 25 is 21.7 meters away at (21.6, 2.4). A vehicle with ID 45 is 24.7 meters away at (24.6, -1.6). A vehicle with ID 44 is 25.0 meters away at (-22.5, 10.8). A vehicle with ID 26 is 25.7 meters away at (12.1, 22.6). A vehicle with ID 35 is 27.0 meters away at (25.8, -8.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 8.611817  -2.9068258] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 [-9.618472   2.9657135] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 9.474773 -2.899316] m/s.The vehicle with ID 26 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: 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 -0.30 radians with an angular velocity of -0.30 rad/s.

The most relevant actors are: A vehicle with ID 44 is 6.7 meters away at (-4.5, 5.0). A vehicle with ID 45 is 7.0 meters away at (5.0, 4.8). A vehicle with ID 16 is 8.5 meters away at (8.1, -2.7). A vehicle with ID 14 is 12.1 meters away at (1.6, 12.0). A vehicle with ID 20 is 20.8 meters away at (11.2, 17.5). A vehicle with ID 24 is 21.0 meters away at (20.0, -6.5). A vehicle with ID 25 is 21.7 meters away at (21.5, 2.4). A vehicle with ID 26 is 25.7 meters away at (12.1, 22.7). A vehicle with ID 35 is 27.0 meters away at (25.8, -8.2). A vehicle with ID 30 is 28.2 meters away at (1.1, 28.1).

The vehicle with ID 44 is traveling at a (x, y) velocity of [ 8.531378  -2.8058863] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-9.702418   3.3332627] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -4.0) m/s. Its current heading (yaw) is -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 5.7 meters away at (1.2, -5.6). A unknown object with ID 63 is 6.7 meters away at (4.8, 4.6). A unknown object with ID 62 is 6.9 meters away at (3.6, 5.9). A pedestrian with ID 18 is 13.2 meters away at (7.9, -10.6). A pedestrian with ID 59 is 15.8 meters away at (-14.9, 5.2). A pedestrian with ID 60 is 15.9 meters away at (-15.2, 4.6). A vehicle with ID 56 is 31.2 meters away at (29.2, -11.1). A vehicle with ID 13 is 35.2 meters away at (-6.6, -34.6). A vehicle with ID 58 is 37.5 meters away at (34.5, -14.5). A vehicle with ID 65 is 39.0 meters away at (-21.9, -32.3).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1758782 -0.6349925] 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 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8659883  -0.66454196] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.93882066  0.49841994] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9297133   0.49376547] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 7.021095  -4.9371867] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -4.3) m/s. Its current heading (yaw) is -0.56 radians with an angular velocity of -0.56 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 4.7 meters away at (-3.4, -3.3). A pedestrian with ID 19 is 10.0 meters away at (-9.8, 1.8). A vehicle with ID 22 is 11.6 meters away at (-0.9, 11.5). A vehicle with ID 40 is 13.0 meters away at (-3.7, 12.5). A vehicle with ID 56 is 16.4 meters away at (16.2, -2.7). A unknown object with ID 62 is 17.2 meters away at (-9.4, 14.4). A vehicle with ID 58 is 22.4 meters away at (21.5, -6.1). A vehicle with ID 57 is 27.4 meters away at (25.9, -8.9). A pedestrian with ID 60 is 33.6 meters away at (-30.5, 14.1). A pedestrian with ID 59 is 33.6 meters away at (-30.1, 15.0).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0809898 -0.5893011] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1273826  -0.60975635] m/s.The vehicle 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 [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.9998425   0.50562286] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.94627917  0.5782117 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -4.3) m/s. Its current heading (yaw) is -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A vehicle with ID 56 is 6.7 meters away at (2.9, 6.0). A vehicle with ID 58 is 8.6 meters away at (8.2, 2.6). A vehicle with ID 57 is 12.6 meters away at (12.6, -0.1). A pedestrian with ID 18 is 15.4 meters away at (-14.8, 4.2). A pedestrian with ID 42 is 22.3 meters away at (-20.6, 8.5). A pedestrian with ID 19 is 23.1 meters away at (-21.2, 9.3). A vehicle with ID 22 is 24.7 meters away at (-14.2, 20.2). A vehicle with ID 13 is 35.3 meters away at (-8.7, -34.2). A unknown object with ID 53 is 42.0 meters away at (-30.3, 29.1). A unknown object with ID 41 is 47.5 meters away at (45.8, -12.8).

The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.9408387 -0.5769129] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 1.1110286 -0.7515424] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.96312356 -0.6626797 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 4.281603 -2.899453] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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 -0.62 radians with an angular velocity of -0.62 rad/s.

The most relevant actors are: A vehicle with ID 57 is 8.5 meters away at (-0.3, 8.5). A vehicle with ID 58 is 12.2 meters away at (-4.8, 11.2). A vehicle with ID 56 is 17.8 meters away at (-10.1, 14.6). A pedestrian with ID 52 is 18.1 meters away at (17.7, 3.7). A pedestrian with ID 18 is 28.3 meters away at (-25.8, 11.6). A unknown object with ID 41 is 33.0 meters away at (32.8, -4.0). A vehicle with ID 13 is 33.6 meters away at (-15.6, -29.7). A unknown object with ID 54 is 35.4 meters away at (34.6, -7.4). A pedestrian with ID 42 is 35.5 meters away at (-31.7, 16.1). A pedestrian with ID 19 is 36.4 meters away at (-32.3, 16.7).

The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.45352474  0.300163  ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0438715 -0.710507 ] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 2.2733874 -1.4890219] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [ 0.9191414  -0.66379815] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.8853849 -0.6072195] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 10.9) 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 29 is 10.4 meters away at (3.7, -9.8). A vehicle with ID 2 is 13.9 meters away at (10.9, -8.7). A vehicle with ID 24 is 30.5 meters away at (16.2, -25.8). A vehicle with ID 25 is 49.4 meters away at (28.3, -40.5). A vehicle with ID 27 is 59.2 meters away at (34.5, -48.1). A vehicle with ID 26 is 66.3 meters away at (36.1, -55.6). A unknown object with ID 15 is 67.4 meters away at (-49.9, 45.3).

The vehicle with ID 29 is traveling at a (x, y) velocity of [ 6.3899345 -8.00992  ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.548103 12.10868 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 4.1043053 -5.2309303] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 1.416482  -1.8436372] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 0.21438292 -0.23599358] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.9628816 -6.2910814] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 11.2) 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 vehicle with ID 2 is 11.8 meters away at (9.7, -6.8). A vehicle with ID 23 is 33.7 meters away at (-32.6, 8.5). A unknown object with ID 15 is 39.7 meters away at (-32.2, 23.1). A vehicle with ID 29 is 55.0 meters away at (31.8, -44.8). A vehicle with ID 25 is 80.1 meters away at (47.5, -64.5).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-9.659209 12.096096] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 3.7218149 -4.886806 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 0.2567765 -0.3238255] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.9, 10.9) 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 vehicle with ID 2 is 9.3 meters away at (8.0, -4.7). A unknown object with ID 15 is 14.6 meters away at (-14.6, 0.8). A vehicle with ID 23 is 20.2 meters away at (-14.9, -13.7). A unknown object with ID 20 is 54.4 meters away at (-29.7, 45.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.008925  12.363053] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [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 (-9.0, 11.0) 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 2 is 6.0 meters away at (5.8, -1.8). A unknown object with ID 15 is 21.3 meters away at (3.0, -21.1). A vehicle with ID 23 is 35.8 meters away at (2.7, -35.7).

The vehicle with ID 2 is traveling at a (x, y) velocity of [-10.336099  12.653047] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [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 -1.98 radians with an angular velocity of -1.98 rad/s.

The most relevant actors are: A pedestrian with ID 48 is 13.0 meters away at (-12.8, -2.7). A vehicle with ID 50 is 17.7 meters away at (12.0, -13.0). A pedestrian with ID 52 is 19.3 meters away at (18.1, 6.7). A vehicle with ID 47 is 23.7 meters away at (-23.2, -4.4). A unknown object with ID 54 is 27.4 meters away at (-0.2, 27.4). A vehicle with ID 62 is 28.7 meters away at (9.7, -27.0). A cyclist with ID 61 is 30.2 meters away at (6.4, -29.5). A vehicle with ID 66 is 33.5 meters away at (6.6, -32.8). A pedestrian with ID 60 is 33.8 meters away at (-1.3, -33.8). A unknown object with ID 56 is 33.9 meters away at (25.2, 22.7).

The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 6.6743705e-05 -2.3837136e-03] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.2456206 -2.7717118] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.00105063  0.0005079 ] m/s.The vehicle with ID 47 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 vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [-1.5853677e-02  7.3782852e-05] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00133026  0.5377556 ] m/s.The unknown object with ID 56 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 (-0.7, -1.7) m/s. Its current heading (yaw) is -1.95 radians with an angular velocity of -1.95 rad/s.

The most relevant actors are: A pedestrian with ID 48 is 12.1 meters away at (-12.1, -1.2). A pedestrian with ID 52 is 20.4 meters away at (18.7, 8.1). A vehicle with ID 47 is 22.9 meters away at (-22.7, -3.1). A vehicle with ID 50 is 24.4 meters away at (16.6, -17.9). A vehicle with ID 68 is 25.9 meters away at (-25.7, 3.1). A vehicle with ID 62 is 27.7 meters away at (10.3, -25.7). A unknown object with ID 54 is 28.8 meters away at (0.4, 28.8). A cyclist with ID 61 is 28.9 meters away at (6.8, -28.1). A vehicle with ID 51 is 29.1 meters away at (-28.1, -7.7). A pedestrian with ID 60 is 29.8 meters away at (-0.2, -29.8).

The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.26398596 0.07468554] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [0.00922414 0.00666041] m/s.The vehicle with ID 47 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 [ 3.0885255 -3.1226315] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 4.738057   -0.82014024] m/s.The vehicle with ID 62 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 cyclist with ID 61 is traveling at a (x, y) velocity of [0.02369965 0.0365187 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 2.3820095 -1.0740898] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.61170673 1.351928  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.5) m/s. Its current heading (yaw) is -2.07 radians with an angular velocity of -2.07 rad/s.

The most relevant actors are: A pedestrian with ID 48 is 10.2 meters away at (-9.3, 4.2). A vehicle with ID 68 is 16.6 meters away at (-14.4, 8.1). A vehicle with ID 47 is 20.4 meters away at (-20.3, 2.2). A pedestrian with ID 60 is 22.2 meters away at (3.7, -21.9). A vehicle with ID 51 is 22.9 meters away at (-22.6, -3.8). A pedestrian with ID 59 is 23.5 meters away at (1.5, -23.4). A vehicle with ID 62 is 24.1 meters away at (12.8, -20.3). A vehicle with ID 58 is 24.5 meters away at (-24.5, 0.7). A cyclist with ID 61 is 24.6 meters away at (9.3, -22.7). A pedestrian with ID 52 is 25.1 meters away at (21.1, 13.5).

The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.01643664 0.00045185] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [4.200053  0.6336162] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.6317726 1.3288021] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [ 0.74868524 -0.3671305 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.36442795 1.45887   ] 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 [ 1.8850253 -0.8892648] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [ 0.03987571 -0.00323591] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [-0.01445763  0.00701027] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -2.9) 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 pedestrian with ID 48 is 11.6 meters away at (-3.6, 11.0). A pedestrian with ID 59 is 15.6 meters away at (7.8, -13.5). A pedestrian with ID 60 is 16.0 meters away at (10.3, -12.3). A vehicle with ID 51 is 16.6 meters away at (-16.3, 2.7). A vehicle with ID 47 is 17.1 meters away at (-14.6, 8.9). A vehicle with ID 68 is 18.0 meters away at (-0.6, 18.0). A vehicle with ID 58 is 18.3 meters away at (-17.1, 6.7). A pedestrian with ID 65 is 19.7 meters away at (5.9, -18.8). A pedestrian with ID 67 is 20.5 meters away at (6.7, -19.4). A cyclist with ID 61 is 21.9 meters away at (15.1, -15.8).

The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 0.00843917 -0.01087375] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.3885457 1.4927378] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.47174883 1.5100082 ] m/s.The vehicle with ID 51 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 68 is traveling at a (x, y) velocity of [3.86242   2.6553042] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.4848274 1.3028044] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.48277318 1.2797381 ] m/s.The cyclist with ID 61 is traveling at a (x, y) velocity of [ 0.00066896 -0.00181949] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -2.0) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A pedestrian with ID 42 is 5.4 meters away at (1.3, 5.3). A unknown object with ID 17 is 11.4 meters away at (4.9, 10.3). A vehicle with ID 38 is 14.5 meters away at (3.0, 14.1). A unknown object with ID 28 is 14.8 meters away at (6.3, 13.4). A unknown object with ID 27 is 18.0 meters away at (7.7, 16.3). A vehicle with ID 46 is 20.4 meters away at (5.1, 19.8). A pedestrian with ID 45 is 27.3 meters away at (-24.3, 12.5). A vehicle with ID 54 is 28.4 meters away at (-21.7, 18.4). A vehicle with ID 55 is 28.9 meters away at (-27.3, 9.4). A vehicle with ID 47 is 30.1 meters away at (-30.1, 0.9).

The pedestrian with ID 42 is traveling at a (x, y) velocity of [-1.2592546  0.7918774] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [1.3868815 0.6059399] m/s.The vehicle with ID 54 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching