The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -1.1) m/s. Its current heading (yaw) is -2.38 radians with an angular velocity of -2.38 rad/s.

The most relevant actors are: A vehicle with ID 55 is 5.2 meters away at (1.1, 5.1). A vehicle with ID 58 is 5.7 meters away at (5.4, -2.0). A vehicle with ID 60 is 9.0 meters away at (8.8, 1.8). A vehicle with ID 61 is 9.6 meters away at (4.3, 8.6). A pedestrian with ID 36 is 11.1 meters away at (-10.9, 2.3). A vehicle with ID 63 is 13.7 meters away at (12.4, 5.8). A vehicle with ID 53 is 14.3 meters away at (-13.9, 3.2). A vehicle with ID 65 is 15.6 meters away at (5.8, -14.4). A vehicle with ID 64 is 15.6 meters away at (8.3, 13.2). A vehicle with ID 62 is 17.6 meters away at (-17.2, -3.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.01656134 1.4053525 ] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -1.2) m/s. Its current heading (yaw) is -2.74 radians with an angular velocity of -2.74 rad/s.

The most relevant actors are: A vehicle with ID 58 is 9.3 meters away at (9.3, 0.9). A vehicle with ID 55 is 9.3 meters away at (5.0, 7.9). A pedestrian with ID 36 is 10.8 meters away at (-7.9, 7.4). A vehicle with ID 53 is 11.7 meters away at (-10.1, 5.9). A vehicle with ID 62 is 13.3 meters away at (-13.2, -1.3). A vehicle with ID 60 is 13.5 meters away at (12.7, 4.7). A pedestrian with ID 70 is 13.6 meters away at (-7.8, -11.2). A vehicle with ID 61 is 14.1 meters away at (8.1, 11.5). A vehicle with ID 65 is 15.2 meters away at (9.8, -11.6). A vehicle with ID 34 is 17.3 meters away at (-14.3, 9.7).

The vehicle with ID 58 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 pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.72900075  0.9302845 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.3630207 -1.0505314] m/s.The vehicle with ID 61 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 1.4) m/s. Its current heading (yaw) is 2.82 radians with an angular velocity of 2.82 rad/s.

The most relevant actors are: A vehicle with ID 62 is 6.3 meters away at (-6.2, -1.1). A vehicle with ID 53 is 6.7 meters away at (-3.0, 6.0). A pedestrian with ID 36 is 9.8 meters away at (-2.3, 9.5). A vehicle with ID 59 is 10.9 meters away at (-10.6, 2.7). A vehicle with ID 34 is 12.0 meters away at (-7.2, 9.6). A pedestrian with ID 70 is 13.1 meters away at (1.9, -13.0). A vehicle with ID 55 is 14.6 meters away at (12.1, 8.1). A vehicle with ID 56 is 15.7 meters away at (-14.4, 6.2). A vehicle with ID 75 is 16.3 meters away at (-8.2, -14.1). A vehicle with ID 58 is 16.4 meters away at (16.4, 1.0).

The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.79648924  0.8384627 ] m/s.The vehicle with ID 59 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 70 is traveling at a (x, y) velocity of [ 1.4016005 -1.0202771] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.9) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 59 is 3.6 meters away at (-2.0, -3.0). A vehicle with ID 34 is 4.1 meters away at (1.4, 3.9). A vehicle with ID 53 is 5.5 meters away at (5.5, 0.2). A vehicle with ID 56 is 5.8 meters away at (-5.7, 0.4). A vehicle with ID 62 is 7.2 meters away at (2.4, -6.8). A pedestrian with ID 36 is 7.3 meters away at (4.8, 5.5). A vehicle with ID 30 is 8.8 meters away at (-3.0, 8.3). A vehicle with ID 28 is 12.9 meters away at (-11.4, 6.0). A vehicle with ID 27 is 14.4 meters away at (-7.5, 12.2). A vehicle with ID 25 is 18.0 meters away at (-15.3, 9.6).

The vehicle with ID 59 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.9582616  0.7740172] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.3) m/s. Its current heading (yaw) is -2.29 radians with an angular velocity of -2.29 rad/s.

The most relevant actors are: A unknown object with ID 21 is 6.9 meters away at (6.9, -0.8). A unknown object with ID 20 is 7.0 meters away at (-0.7, 7.0). A unknown object with ID 6 is 7.4 meters away at (7.0, -2.4). A unknown object with ID 44 is 14.9 meters away at (13.3, 6.7). A vehicle with ID 48 is 15.3 meters away at (7.4, 13.4). A unknown object with ID 49 is 22.8 meters away at (18.7, 13.0). A pedestrian with ID 50 is 27.2 meters away at (24.3, 12.2). A vehicle with ID 58 is 32.2 meters away at (18.5, 26.4). A vehicle with ID 53 is 33.4 meters away at (26.4, 20.4). A vehicle with ID 62 is 33.5 meters away at (-33.5, 0.4).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.0084813 1.1348196] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A unknown object with ID 21 is 8.3 meters away at (8.3, 0.8). A unknown object with ID 6 is 8.4 meters away at (8.4, -0.8). A unknown object with ID 20 is 8.6 meters away at (0.7, 8.5). A unknown object with ID 44 is 16.9 meters away at (14.7, 8.3). A vehicle with ID 48 is 17.4 meters away at (8.8, 15.0). A unknown object with ID 49 is 24.9 meters away at (20.1, 14.7). A pedestrian with ID 50 is 32.0 meters away at (27.7, 16.1). A vehicle with ID 62 is 32.2 meters away at (-32.1, 2.0). A vehicle with ID 58 is 34.3 meters away at (19.9, 28.0). A vehicle with ID 53 is 35.5 meters away at (27.8, 22.0).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [1.0462855 1.1342711] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.4) m/s. Its current heading (yaw) is -1.99 radians with an angular velocity of -1.99 rad/s.

The most relevant actors are: A unknown object with ID 6 is 9.5 meters away at (9.5, 0.7). A unknown object with ID 21 is 9.6 meters away at (9.3, 2.3). A unknown object with ID 44 is 18.6 meters away at (15.8, 9.8). A vehicle with ID 48 is 19.2 meters away at (10.0, 16.5). A unknown object with ID 49 is 26.7 meters away at (21.3, 16.1). A vehicle with ID 62 is 31.3 meters away at (-31.0, 3.7). A vehicle with ID 58 is 36.3 meters away at (21.1, 29.5). A pedestrian with ID 50 is 36.7 meters away at (30.9, 19.7). A vehicle with ID 53 is 37.3 meters away at (29.1, 23.3). A vehicle with ID 42 is 37.5 meters away at (25.7, -27.3).

The unknown object with ID 6 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 pedestrian with ID 50 is traveling at a (x, y) velocity of [1.1237767 1.1310389] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -3.8) m/s. Its current heading (yaw) is -1.47 radians with an angular velocity of -1.47 rad/s.

The most relevant actors are: A unknown object with ID 6 is 12.1 meters away at (10.4, 6.2). A unknown object with ID 21 is 12.9 meters away at (10.3, 7.7). A unknown object with ID 44 is 22.7 meters away at (16.8, 15.2). A vehicle with ID 48 is 24.5 meters away at (10.9, 21.9). A vehicle with ID 62 is 31.6 meters away at (-30.2, 9.2). A vehicle with ID 42 is 34.4 meters away at (26.5, -21.9). A vehicle with ID 58 is 41.2 meters away at (22.0, 34.9). A vehicle with ID 53 is 41.5 meters away at (29.9, 28.7). A vehicle with ID 56 is 42.7 meters away at (-40.7, 12.7). A pedestrian with ID 39 is 43.1 meters away at (20.9, 37.7).

The unknown object with ID 6 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01086348  0.04651544] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, -2.7) 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 vehicle with ID 8 is 27.9 meters away at (27.4, -5.2). A vehicle with ID 9 is 29.3 meters away at (-5.9, 28.7). A unknown object with ID 19 is 50.0 meters away at (-28.7, -40.9). A unknown object with ID 18 is 51.8 meters away at (-30.2, -42.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.2550907  5.1835527] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.7904274 -1.5637618] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -3.4) m/s. Its current heading (yaw) is -2.38 radians with an angular velocity of -2.38 rad/s.

The most relevant actors are: A vehicle with ID 8 is 23.9 meters away at (22.3, 8.8). A vehicle with ID 9 is 31.9 meters away at (5.3, 31.4). A unknown object with ID 10 is 32.3 meters away at (-29.9, -12.3). A unknown object with ID 11 is 40.6 meters away at (-20.6, -35.0). A unknown object with ID 19 is 41.0 meters away at (-21.5, -34.9). A unknown object with ID 18 is 42.7 meters away at (-22.9, -36.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-6.0862455  2.0276859] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 2.4151309 -2.1262598] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -4.0) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 8 is 23.2 meters away at (17.2, 15.6). A unknown object with ID 11 is 30.9 meters away at (-14.0, -27.6). A unknown object with ID 19 is 31.1 meters away at (-14.7, -27.5). A unknown object with ID 18 is 32.8 meters away at (-16.1, -28.7). A vehicle with ID 9 is 37.2 meters away at (16.9, 33.1).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.446256  -2.5643182] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 1.8329171 -3.5885432] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, -4.0) m/s. Its current heading (yaw) is -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A unknown object with ID 6 is 16.0 meters away at (-15.5, 3.8). A unknown object with ID 3 is 16.4 meters away at (-16.1, 3.0). A unknown object with ID 7 is 17.1 meters away at (-16.5, 4.4). A unknown object with ID 5 is 17.2 meters away at (-16.8, 3.7). A unknown object with ID 11 is 20.8 meters away at (-7.0, -19.6). A unknown object with ID 19 is 21.0 meters away at (-7.7, -19.5). A vehicle with ID 8 is 21.0 meters away at (14.6, 15.1). A unknown object with ID 18 is 22.6 meters away at (-9.1, -20.7). A unknown object with ID 2 is 24.6 meters away at (-10.1, -22.5). A vehicle with ID 9 is 40.7 meters away at (24.8, 32.3).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.4436526 -5.6287766] 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.0240963 -5.155099 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A cyclist with ID 47 is 8.4 meters away at (-1.5, 8.3). A pedestrian with ID 40 is 30.1 meters away at (26.2, -14.8). A vehicle with ID 58 is 38.9 meters away at (-29.2, 25.8). A vehicle with ID 56 is 43.0 meters away at (-42.7, -5.1). A vehicle with ID 55 is 48.9 meters away at (-14.5, -46.7). A vehicle with ID 12 is 52.3 meters away at (-52.3, 2.6). A vehicle with ID 16 is 63.1 meters away at (-25.0, -57.9). A unknown object with ID 60 is 70.5 meters away at (-49.0, 50.7). A vehicle with ID 63 is 74.7 meters away at (72.8, -17.1). A vehicle with ID 65 is 76.2 meters away at (64.2, -40.9).

The cyclist with ID 47 is traveling at a (x, y) velocity of [-0.23321837  0.17433763] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.41015196  0.3118525 ] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 5.7308826 -5.1283684] m/s.The vehicle with ID 56 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, -2.6) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A cyclist with ID 47 is 13.3 meters away at (-5.8, 12.0). A vehicle with ID 58 is 29.1 meters away at (-21.9, 19.1). A vehicle with ID 55 is 46.6 meters away at (-18.6, -42.8). A vehicle with ID 56 is 46.8 meters away at (-46.7, -1.7). A unknown object with ID 8 is 60.2 meters away at (6.1, -59.9). A vehicle with ID 16 is 62.1 meters away at (-29.4, -54.7). A pedestrian with ID 51 is 64.5 meters away at (55.0, -33.7). A vehicle with ID 63 is 69.8 meters away at (68.4, -13.7). A vehicle with ID 65 is 70.7 meters away at (60.1, -37.3). A unknown object with ID 60 is 76.2 meters away at (-53.3, 54.5).

The cyclist with ID 47 is traveling at a (x, y) velocity of [0.00618343 0.00476519] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 5.5726066 -4.952767 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.98256856 -0.56899446] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -4.2) m/s. Its current heading (yaw) is -1.63 radians with an angular velocity of -1.63 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 20.8 meters away at (-9.5, 18.4). A cyclist with ID 47 is 20.9 meters away at (-9.6, 18.6). A vehicle with ID 58 is 22.5 meters away at (-15.2, 16.6). A unknown object with ID 30 is 24.5 meters away at (-19.1, -15.4). A vehicle with ID 55 is 42.0 meters away at (-21.9, -35.9). A unknown object with ID 8 is 53.3 meters away at (3.2, -53.2). A pedestrian with ID 51 is 57.3 meters away at (49.8, -28.3). A vehicle with ID 16 is 57.9 meters away at (-32.6, -47.9). A vehicle with ID 65 is 64.3 meters away at (56.8, -30.1). A vehicle with ID 63 is 65.2 meters away at (64.8, -6.5).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.08482308  0.0364877 ] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 0.0092082  -0.02751416] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 4.683661  -3.8758404] m/s.The unknown object with ID 30 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 unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.78666764 -0.9511032 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -3.4) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A unknown object with ID 30 is 16.9 meters away at (-15.0, -7.7). A unknown object with ID 17 is 17.8 meters away at (-15.7, -8.5). A vehicle with ID 58 is 18.9 meters away at (-4.1, 18.5). A pedestrian with ID 13 is 27.9 meters away at (-6.6, 27.1). A cyclist with ID 47 is 27.9 meters away at (-6.7, 27.0). A vehicle with ID 55 is 33.8 meters away at (-18.0, -28.6). A vehicle with ID 49 is 47.1 meters away at (-45.6, 11.8). A vehicle with ID 31 is 47.9 meters away at (-33.3, -34.4). A pedestrian with ID 51 is 56.6 meters away at (51.4, -23.5). A vehicle with ID 48 is 59.0 meters away at (-36.3, -46.5).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 2.191116 -1.949594] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1804411  1.1074567] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [-1.6653392  1.0326785] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.95936346 -1.0932322 ] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 1.6) 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 unknown object with ID 105 is 3.1 meters away at (-0.6, 3.0). A unknown object with ID 103 is 3.6 meters away at (3.5, 0.6). A unknown object with ID 107 is 5.3 meters away at (-3.5, -4.0). A unknown object with ID 112 is 7.4 meters away at (-2.8, 6.9). A pedestrian with ID 113 is 7.6 meters away at (-0.6, 7.6). A unknown object with ID 106 is 10.0 meters away at (4.8, -8.8). A vehicle with ID 108 is 10.3 meters away at (9.0, -5.0). A unknown object with ID 114 is 11.3 meters away at (-11.3, 0.6). A vehicle with ID 110 is 14.2 meters away at (-11.5, 8.4). A unknown object with ID 115 is 21.0 meters away at (19.3, -8.5).

The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.3657367 -0.931023 ] m/s.The unknown object with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-1.8992878  1.1070464] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-4.380743   3.7032614] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 2.9) m/s. Its current heading (yaw) is 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A unknown object with ID 112 is 5.2 meters away at (4.6, 2.3). A unknown object with ID 114 is 5.6 meters away at (-3.8, -4.1). A unknown object with ID 105 is 7.2 meters away at (7.0, -1.7). A pedestrian with ID 113 is 9.5 meters away at (9.4, 1.3). A unknown object with ID 107 is 9.5 meters away at (4.0, -8.7). A vehicle with ID 108 is 12.7 meters away at (11.0, -6.4). A vehicle with ID 110 is 19.7 meters away at (-14.0, 13.9). A vehicle with ID 111 is 33.0 meters away at (-32.1, -7.8). A unknown object with ID 119 is 39.5 meters away at (35.2, -17.9). A pedestrian with ID 124 is 39.5 meters away at (-19.8, 34.2).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.0948149 -0.6328833] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-3.5485818  2.0223262] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-5.577075   6.6993837] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [-3.7118423 -6.374957 ] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.15545493  1.3334609 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 1.7) m/s. Its current heading (yaw) is 2.85 radians with an angular velocity of 2.85 rad/s.

The most relevant actors are: A unknown object with ID 114 is 11.3 meters away at (6.3, -9.4). A vehicle with ID 108 is 14.2 meters away at (12.5, -6.6). A unknown object with ID 112 is 15.2 meters away at (14.8, -3.1). A unknown object with ID 105 is 18.4 meters away at (17.0, -7.1). A unknown object with ID 107 is 19.9 meters away at (14.1, -14.0). A pedestrian with ID 113 is 22.9 meters away at (22.3, -5.5). A vehicle with ID 110 is 28.9 meters away at (-15.3, 24.5). A vehicle with ID 52 is 30.6 meters away at (-29.6, 7.8). A vehicle with ID 76 is 30.9 meters away at (-29.0, 10.6). A pedestrian with ID 124 is 32.8 meters away at (-9.9, 31.2).

The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [-5.2384653  3.4574418] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [ 1.2476377 -0.7430416] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [-6.256332  9.123057] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.30201283  1.0399882 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -2.8) m/s. Its current heading (yaw) is -2.67 radians with an angular velocity of -2.67 rad/s.

The most relevant actors are: A vehicle with ID 108 is 13.8 meters away at (13.5, 3.1). A vehicle with ID 52 is 19.5 meters away at (-17.7, 8.2). A unknown object with ID 114 is 20.2 meters away at (18.1, -9.0). A vehicle with ID 76 is 20.4 meters away at (-17.1, 11.0). A unknown object with ID 112 is 26.8 meters away at (26.6, -2.6). A pedestrian with ID 125 is 33.8 meters away at (0.2, 33.8). A pedestrian with ID 124 is 33.8 meters away at (1.1, 33.8). A vehicle with ID 104 is 35.2 meters away at (-13.6, -32.4). A pedestrian with ID 113 is 37.3 meters away at (36.6, -6.9). A vehicle with ID 111 is 46.4 meters away at (-25.1, -39.0).

The vehicle with ID 108 is traveling at a (x, y) velocity of [-5.9314547  6.120998 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [-0.57869714  0.928345  ] m/s.The pedestrian with ID 124 is traveling at a (x, y) velocity of [-0.5537664   0.91538376] m/s.The vehicle with ID 104 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 [ 1.3091421  -0.85849357] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [-4.2366786 -8.206322 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.6) m/s. Its current heading (yaw) is 2.36 radians with an angular velocity of 2.36 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.2 meters away at (2.9, 1.4). A vehicle with ID 20 is 7.7 meters away at (-1.8, 7.5). A vehicle with ID 19 is 9.0 meters away at (7.9, -4.3). A vehicle with ID 23 is 9.0 meters away at (-5.8, 7.0). A vehicle with ID 24 is 15.8 meters away at (-7.6, 13.9). A vehicle with ID 25 is 18.9 meters away at (-12.4, 14.3). A vehicle with ID 26 is 23.3 meters away at (-12.8, 19.6). A vehicle with ID 37 is 31.5 meters away at (-17.9, 26.0). A vehicle with ID 15 is 33.3 meters away at (-21.7, 25.3). A vehicle with ID 27 is 42.9 meters away at (-27.9, 32.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 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 37 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34 radians with an angular velocity of 2.34 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (3.1, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.6, 7.3). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.5). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 37 is 31.1 meters away at (-17.6, 25.7). A pedestrian with ID 35 is 49.8 meters away at (-45.4, 20.5). A pedestrian with ID 39 is 54.0 meters away at (-47.8, 25.2).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.5189649 -1.2593045] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [ 0.8343771 -0.9176985] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34 radians with an angular velocity of 2.34 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.3 meters away at (3.2, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.5, 7.2). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.6). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 37 is 31.0 meters away at (-17.5, 25.6). A vehicle with ID 18 is 38.6 meters away at (25.0, -29.5). A vehicle with ID 22 is 39.7 meters away at (28.0, -28.1).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.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 37 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 [-5.245167   6.1000004] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-4.3181925  5.057163 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.34 radians with an angular velocity of 2.34 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.4 meters away at (3.2, 1.1). A vehicle with ID 20 is 7.4 meters away at (-1.5, 7.2). A vehicle with ID 23 is 8.7 meters away at (-5.5, 6.7). A vehicle with ID 19 is 9.3 meters away at (8.1, -4.6). A vehicle with ID 24 is 15.5 meters away at (-7.4, 13.6). A vehicle with ID 25 is 18.6 meters away at (-12.2, 14.0). A vehicle with ID 26 is 23.0 meters away at (-12.5, 19.3). A vehicle with ID 18 is 25.3 meters away at (16.4, -19.3). A vehicle with ID 22 is 28.7 meters away at (20.9, -19.7). A vehicle with ID 37 is 31.0 meters away at (-17.5, 25.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.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 18 is traveling at a (x, y) velocity of [-3.3553975  3.9630651] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-2.9819038  3.5240068] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.4) m/s. Its current heading (yaw) is -0.49 radians with an angular velocity of -0.49 rad/s.

The most relevant actors are: A unknown object with ID 69 is 10.9 meters away at (-1.5, 10.8). A pedestrian with ID 62 is 14.7 meters away at (1.5, 14.6). A pedestrian with ID 74 is 17.3 meters away at (2.5, -17.1). A unknown object with ID 102 is 17.3 meters away at (-16.8, 3.9). A unknown object with ID 80 is 18.0 meters away at (11.7, 13.7). A unknown object with ID 88 is 18.3 meters away at (12.4, 13.4). A vehicle with ID 52 is 36.7 meters away at (-31.8, 18.3). A vehicle with ID 59 is 41.0 meters away at (32.9, -24.4). A unknown object with ID 75 is 43.2 meters away at (38.6, -19.5). A unknown object with ID 82 is 55.2 meters away at (53.2, -15.0).

The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 1.0610149 -0.4704903] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.9424768   0.74888825] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [ 6.713412  -4.7501717] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [ 9.837507 -5.524377] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -4.9) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A pedestrian with ID 74 is 17.3 meters away at (-16.2, -5.9). A unknown object with ID 88 is 23.5 meters away at (-4.0, 23.2). A unknown object with ID 80 is 24.0 meters away at (-4.8, 23.5). A unknown object with ID 75 is 24.1 meters away at (22.2, -9.4). A pedestrian with ID 62 is 26.5 meters away at (-13.0, 23.1). A unknown object with ID 69 is 27.4 meters away at (-18.0, 20.7). A pedestrian with ID 101 is 28.3 meters away at (28.3, 1.0). A unknown object with ID 99 is 30.2 meters away at (27.4, -12.7). A vehicle with ID 103 is 33.8 meters away at (31.7, -11.8). A unknown object with ID 104 is 35.1 meters away at (-29.1, 19.6).

The pedestrian with ID 74 is traveling at a (x, y) velocity of [-1.074189   0.8295059] m/s.The unknown object with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.9183468 -0.6744409] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.9467185  0.4827342] m/s.The unknown object with ID 99 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 [-6.8849974  4.4049683] m/s.The unknown object with ID 104 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 (8.2, -4.8) m/s. Its current heading (yaw) is -0.54 radians with an angular velocity of -0.54 rad/s.

The most relevant actors are: A unknown object with ID 75 is 5.3 meters away at (5.3, 0.8). A vehicle with ID 103 is 6.4 meters away at (2.9, 5.7). A unknown object with ID 99 is 11.0 meters away at (10.7, -2.6). A unknown object with ID 125 is 13.9 meters away at (13.2, -4.2). A vehicle with ID 122 is 14.9 meters away at (14.9, -0.9). A pedestrian with ID 113 is 16.8 meters away at (-15.0, -7.4). A unknown object with ID 70 is 17.0 meters away at (15.9, -5.8). A unknown object with ID 63 is 20.3 meters away at (19.9, 3.7). A unknown object with ID 82 is 20.4 meters away at (19.7, 5.3). A unknown object with ID 123 is 20.8 meters away at (20.4, 4.0).

The unknown object with ID 75 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 [-4.1192074  2.6091192] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [-6.1289554  3.6136134] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-0.44296288  0.86329705] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.8) m/s. Its current heading (yaw) is -0.54 radians with an angular velocity of -0.54 rad/s.

The most relevant actors are: A unknown object with ID 90 is 4.0 meters away at (3.8, 1.1). A unknown object with ID 70 is 4.7 meters away at (-1.4, 4.5). A unknown object with ID 51 is 5.6 meters away at (5.6, 0.1). A unknown object with ID 125 is 7.4 meters away at (-4.1, 6.1). A unknown object with ID 49 is 7.9 meters away at (7.8, -1.2). A vehicle with ID 53 is 8.3 meters away at (-2.2, -8.0). A unknown object with ID 48 is 9.6 meters away at (9.4, -2.1). A unknown object with ID 99 is 10.3 meters away at (-6.7, 7.8). A vehicle with ID 50 is 11.0 meters away at (2.4, -10.8). A unknown object with ID 115 is 11.6 meters away at (11.3, -3.0).

The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -3.5) m/s. Its current heading (yaw) is -1.39 radians with an angular velocity of -1.39 rad/s.

The most relevant actors are: A pedestrian with ID 77 is 5.2 meters away at (-4.9, -1.9). A pedestrian with ID 39 is 9.5 meters away at (1.5, 9.4). A unknown object with ID 69 is 9.8 meters away at (0.3, 9.8). A pedestrian with ID 85 is 13.3 meters away at (8.2, -10.4). A vehicle with ID 44 is 16.3 meters away at (-11.8, 11.2). A pedestrian with ID 56 is 16.3 meters away at (16.2, 1.7). A vehicle with ID 68 is 18.5 meters away at (0.4, -18.5). A unknown object with ID 86 is 20.3 meters away at (20.0, -3.4). A unknown object with ID 87 is 22.1 meters away at (21.7, -4.4). A vehicle with ID 89 is 23.2 meters away at (23.0, -3.0).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.7662599 1.029124 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8107311 -0.8657295] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.12305433 0.4796151 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 1.1806659 -0.8272433] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00987605  0.00373207] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.3) m/s. Its current heading (yaw) is -1.99 radians with an angular velocity of -1.99 rad/s.

The most relevant actors are: A pedestrian with ID 77 is 7.7 meters away at (-2.2, 7.3). A pedestrian with ID 85 is 10.0 meters away at (9.6, -3.1). A vehicle with ID 68 is 11.7 meters away at (1.4, -11.6). A pedestrian with ID 39 is 14.0 meters away at (0.8, 14.0). A vehicle with ID 44 is 19.0 meters away at (-8.8, 16.9). A pedestrian with ID 56 is 19.3 meters away at (17.5, 8.3). A unknown object with ID 86 is 21.4 meters away at (21.1, 3.3). A vehicle with ID 65 is 22.2 meters away at (-4.0, -21.8). A unknown object with ID 87 is 22.9 meters away at (22.8, 2.3). A pedestrian with ID 93 is 23.4 meters away at (22.7, -5.5).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.87918633 1.228824  ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.00118333 0.28821695] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0382863 -1.3612479] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.68490565 -0.478297  ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.0051391  -0.01829886] m/s.The unknown object with ID 86 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 unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.01856276 -0.02685357] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.3) m/s. Its current heading (yaw) is -2.07 radians with an angular velocity of -2.07 rad/s.

The most relevant actors are: A vehicle with ID 68 is 7.0 meters away at (4.8, -5.2). A pedestrian with ID 85 is 13.5 meters away at (13.0, 3.7). A vehicle with ID 65 is 15.2 meters away at (-0.6, -15.2). A unknown object with ID 94 is 16.3 meters away at (-9.8, -13.0). A pedestrian with ID 77 is 16.3 meters away at (3.2, 16.0). A pedestrian with ID 82 is 16.5 meters away at (-13.4, -9.6). A pedestrian with ID 83 is 16.8 meters away at (-14.2, -9.1). A pedestrian with ID 39 is 18.2 meters away at (2.2, 18.1). A vehicle with ID 43 is 18.9 meters away at (-11.7, -14.9). A vehicle with ID 44 is 23.3 meters away at (-4.7, 22.8).

The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.26718384  0.00671342] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [0.98611426 1.1310604 ] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.6064197 0.9891299] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.661412  0.9850936] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.0277784 -1.0836378] 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 [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -3.6) m/s. Its current heading (yaw) is -2.04 radians with an angular velocity of -2.04 rad/s.

The most relevant actors are: A pedestrian with ID 82 is 8.6 meters away at (-8.6, -0.5). A unknown object with ID 94 is 8.6 meters away at (-6.1, -6.1). A vehicle with ID 68 is 8.6 meters away at (8.5, 1.6). A vehicle with ID 65 is 8.9 meters away at (3.2, -8.3). A pedestrian with ID 83 is 9.2 meters away at (-9.2, 0.0). A vehicle with ID 43 is 11.2 meters away at (-7.9, -7.9). A pedestrian with ID 85 is 19.0 meters away at (15.9, 10.4). A vehicle with ID 66 is 20.3 meters away at (-4.0, -19.9). A pedestrian with ID 50 is 22.3 meters away at (-0.5, -22.3). A pedestrian with ID 39 is 23.2 meters away at (3.7, 22.9).

The pedestrian with ID 82 is traveling at a (x, y) velocity of [0.67157197 1.1607642 ] m/s.The unknown object with ID 94 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 83 is traveling at a (x, y) velocity of [0.7105824 1.1122718] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.02624385 -0.03018072] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.04988845 -0.01253691] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.8511284 -0.9925207] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -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 49 is 9.6 meters away at (7.5, -5.9). A unknown object with ID 53 is 14.8 meters away at (14.6, 2.1). A vehicle with ID 55 is 14.9 meters away at (12.7, -7.7). A vehicle with ID 60 is 20.0 meters away at (17.6, -9.4). A vehicle with ID 41 is 20.8 meters away at (20.8, -1.2). A vehicle with ID 65 is 25.4 meters away at (22.8, -11.3). A vehicle with ID 45 is 28.7 meters away at (-28.5, -3.2). A vehicle with ID 72 is 30.5 meters away at (27.6, -12.9). A vehicle with ID 47 is 31.0 meters away at (-30.0, -8.0). A vehicle with ID 42 is 34.1 meters away at (33.6, -5.4).

The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 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 65 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 72 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.3, -2.8) 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 55 is 3.9 meters away at (-3.2, -2.2). A vehicle with ID 60 is 4.3 meters away at (1.6, -4.0). A vehicle with ID 41 is 6.4 meters away at (4.8, 4.3). A vehicle with ID 49 is 8.3 meters away at (-8.3, -0.5). A vehicle with ID 65 is 8.9 meters away at (6.7, -5.8). A vehicle with ID 72 is 13.7 meters away at (11.6, -7.4). A vehicle with ID 42 is 17.6 meters away at (17.6, 0.1). A vehicle with ID 29 is 31.4 meters away at (28.6, -13.2). A vehicle with ID 43 is 31.8 meters away at (31.4, -4.8). A vehicle with ID 44 is 42.1 meters away at (41.3, -8.2).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 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 [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -2.7) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A vehicle with ID 72 is 5.1 meters away at (-4.7, -1.9). A vehicle with ID 42 is 5.7 meters away at (1.2, 5.6). A vehicle with ID 65 is 9.4 meters away at (-9.4, -0.3). A vehicle with ID 29 is 14.3 meters away at (12.2, -7.6). A vehicle with ID 60 is 14.8 meters away at (-14.7, 1.6). A vehicle with ID 43 is 15.1 meters away at (15.0, 0.8). A vehicle with ID 41 is 15.1 meters away at (-11.5, 9.8). A vehicle with ID 30 is 16.3 meters away at (-3.5, 15.9). A vehicle with ID 55 is 19.9 meters away at (-19.7, 3.4). A vehicle with ID 37 is 20.2 meters away at (0.8, 20.2).

The vehicle with ID 72 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 65 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -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 29 is 4.2 meters away at (-3.5, -2.3). A vehicle with ID 43 is 6.1 meters away at (-0.7, 6.1). A vehicle with ID 44 is 9.6 meters away at (9.2, 2.8). A unknown object with ID 9 is 14.1 meters away at (6.6, -12.5). A unknown object with ID 32 is 14.4 meters away at (6.1, -13.0). A unknown object with ID 10 is 15.0 meters away at (6.6, -13.5). A vehicle with ID 5 is 16.5 meters away at (16.5, 0.4). A vehicle with ID 42 is 18.2 meters away at (-14.5, 11.0). A vehicle with ID 2 is 18.4 meters away at (16.2, -8.9). A vehicle with ID 72 is 20.9 meters away at (-20.6, 3.4).

The vehicle 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 44 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -1.1) 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 pedestrian with ID 13 is 24.2 meters away at (6.2, 23.4). A pedestrian with ID 14 is 25.3 meters away at (6.2, 24.6). A unknown object with ID 9 is 36.1 meters away at (-9.4, -34.9). A vehicle with ID 17 is 60.2 meters away at (-0.8, 60.2). A unknown object with ID 4 is 66.5 meters away at (-4.0, -66.4).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-6.398538e-05 -1.141478e-02] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.00707093 -0.0027466 ] m/s.The unknown object with ID 9 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 unknown object with ID 4 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, -0.2) m/s. Its current heading (yaw) is -1.49 radians with an angular velocity of -1.49 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 24.8 meters away at (6.0, 24.1). A vehicle with ID 17 is 60.8 meters away at (-0.9, 60.8).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.05453017  0.41385522] m/s.The vehicle with ID 17 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 (0.5, -2.3) m/s. Its current heading (yaw) is -1.34 radians with an angular velocity of -1.34 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 27.3 meters away at (5.6, 26.7). A vehicle with ID 17 is 63.7 meters away at (-1.2, 63.7). A vehicle with ID 5 is 70.5 meters away at (-70.1, -7.1). A unknown object with ID 6 is 74.0 meters away at (70.8, -21.5).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [0.0132718  0.00542103] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, -2.9) m/s. Its current heading (yaw) is -0.92 radians with an angular velocity of -0.92 rad/s.

The most relevant actors are: A unknown object with ID 2 is 61.2 meters away at (-59.5, 14.6). A vehicle with ID 17 is 69.4 meters away at (-3.4, 69.3). A vehicle with ID 5 is 72.5 meters away at (-72.5, -1.2).

The unknown object with ID 2 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, 4.3) m/s. Its current heading (yaw) is 1.23 radians with an angular velocity of 1.23 rad/s.

The most relevant actors are: A pedestrian with ID 84 is 7.1 meters away at (4.4, -5.5). A pedestrian with ID 85 is 9.5 meters away at (-9.0, 3.0). A vehicle with ID 83 is 10.4 meters away at (-8.6, -5.9). A unknown object with ID 50 is 11.8 meters away at (10.3, 5.9). A vehicle with ID 86 is 18.6 meters away at (-2.8, 18.4). A vehicle with ID 87 is 18.8 meters away at (-5.5, -18.0). A vehicle with ID 88 is 23.6 meters away at (-12.1, 20.2). A vehicle with ID 82 is 26.2 meters away at (26.1, 2.8). A pedestrian with ID 91 is 34.0 meters away at (25.8, 22.1). A vehicle with ID 93 is 37.7 meters away at (7.4, 37.0).

The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.41013387 -1.3814791 ] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.5520069 1.5142438] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-4.140026   6.7884207] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [1.7904105 5.139952 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1955444   0.45263195] m/s.The vehicle with ID 93 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 (0.8, 2.9) m/s. Its current heading (yaw) is 1.29 radians with an angular velocity of 1.29 rad/s.

The most relevant actors are: A unknown object with ID 50 is 8.0 meters away at (8.0, -0.8). A pedestrian with ID 85 is 10.7 meters away at (-10.6, -0.9). A pedestrian with ID 56 is 13.5 meters away at (-13.2, 3.0). A vehicle with ID 87 is 15.0 meters away at (-4.3, -14.4). A pedestrian with ID 84 is 15.2 meters away at (1.0, -15.2). A vehicle with ID 83 is 16.7 meters away at (-10.9, -12.6). A vehicle with ID 88 is 19.7 meters away at (-14.4, 13.5). A vehicle with ID 82 is 24.1 meters away at (23.8, -4.0). A pedestrian with ID 91 is 26.6 meters away at (21.1, 16.2). A vehicle with ID 86 is 30.2 meters away at (-19.7, 22.8).

The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [0.3187906 1.284384 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.00261445 -0.01144114] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [1.6588902 4.913587 ] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.5394447 -1.5544317] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0583565   0.15679462] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-10.258155    4.1751924] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 5.0) 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 pedestrian with ID 85 is 11.8 meters away at (-9.9, -6.4). A vehicle with ID 87 is 13.0 meters away at (-0.5, -13.0). A vehicle with ID 88 is 14.9 meters away at (-13.9, 5.4). A vehicle with ID 93 is 21.1 meters away at (4.9, 20.5). A pedestrian with ID 91 is 21.2 meters away at (19.3, 8.7). A vehicle with ID 83 is 23.3 meters away at (-10.5, -20.8). A vehicle with ID 39 is 25.1 meters away at (-23.7, 8.4). A pedestrian with ID 84 is 26.3 meters away at (0.3, -26.3). A vehicle with ID 82 is 27.2 meters away at (24.3, -12.2). A vehicle with ID 36 is 40.6 meters away at (-38.3, 13.4).

The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.209993   1.2439212] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [2.0232606 4.830256 ] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [-0.5157984 -1.2532122] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.1195457  0.2830677] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [ 0.65661967 -0.2213878 ] m/s.The pedestrian with ID 84 is traveling at a (x, y) velocity of [-0.59185123 -1.4294112 ] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 3.3396869 -1.1497002] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 3.8) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A vehicle with ID 88 is 7.2 meters away at (-5.7, -4.3). A vehicle with ID 93 is 14.1 meters away at (11.9, 7.7). A pedestrian with ID 85 is 14.4 meters away at (-3.6, -14.0). A vehicle with ID 39 is 15.1 meters away at (-15.0, -1.5). A vehicle with ID 87 is 20.8 meters away at (14.4, -15.0). A unknown object with ID 73 is 25.0 meters away at (16.6, -18.7). A pedestrian with ID 91 is 25.2 meters away at (25.2, -0.1). A vehicle with ID 36 is 26.2 meters away at (-26.1, 2.2). A vehicle with ID 83 is 30.5 meters away at (-2.4, -30.4). A vehicle with ID 34 is 33.1 meters away at (-33.1, 0.6).

The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [-0.6289861 -2.2901993] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.3167715  0.788043 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [5.2776375 2.2377346] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0937092   0.32294747] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.81564885 -0.25613734] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, 4.1) m/s. Its current heading (yaw) is 2.59 radians with an angular velocity of 2.59 rad/s.

The most relevant actors are: A unknown object with ID 22 is 16.3 meters away at (-15.9, 3.4). A unknown object with ID 14 is 19.9 meters away at (18.9, 6.2). A vehicle with ID 21 is 29.1 meters away at (25.3, -14.4). A pedestrian with ID 15 is 29.1 meters away at (27.9, -8.3). A pedestrian with ID 16 is 29.9 meters away at (28.8, -8.3). A pedestrian with ID 17 is 30.5 meters away at (30.0, -5.3). A pedestrian with ID 18 is 31.2 meters away at (30.5, -6.6). A pedestrian with ID 19 is 32.0 meters away at (31.4, -6.4). A vehicle with ID 20 is 36.1 meters away at (29.2, -21.2).

The unknown object with ID 22 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 21 is traveling at a (x, y) velocity of [-2.230533   2.4821959] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.02373559  0.01151779] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.04997615 -0.00961137] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.02776488 -0.00862317] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00308844 0.00821945] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.02049096  0.00989051] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 4.6) m/s. Its current heading (yaw) is 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A unknown object with ID 22 is 6.0 meters away at (-2.1, -5.6). A unknown object with ID 14 is 32.9 meters away at (32.8, -2.6). A vehicle with ID 21 is 40.6 meters away at (37.0, -16.6). A unknown object with ID 12 is 41.8 meters away at (-39.6, 13.4). A pedestrian with ID 15 is 45.2 meters away at (41.8, -17.0). A pedestrian with ID 16 is 45.9 meters away at (42.6, -17.1). A pedestrian with ID 17 is 46.2 meters away at (44.0, -14.2). A pedestrian with ID 18 is 47.0 meters away at (44.4, -15.4). A pedestrian with ID 19 is 47.8 meters away at (45.3, -15.1). A vehicle with ID 20 is 52.5 meters away at (43.1, -30.0).

The unknown object with ID 22 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 21 is traveling at a (x, y) velocity of [0.2978955 3.5322912] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00645    -0.01104345] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00510487  0.03167291] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.01472604 -0.01619303] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.01933401 -0.00302783] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00664679 -0.01403659] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 5.0) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A unknown object with ID 22 is 19.9 meters away at (13.0, -15.2). A unknown object with ID 12 is 24.9 meters away at (-24.6, 3.9). A pedestrian with ID 2 is 36.7 meters away at (-22.9, 28.7). A vehicle with ID 21 is 58.4 meters away at (54.7, -20.5). A pedestrian with ID 15 is 63.1 meters away at (57.0, -27.0). A pedestrian with ID 16 is 63.6 meters away at (57.7, -26.7). A pedestrian with ID 17 is 63.6 meters away at (59.0, -23.8). A pedestrian with ID 18 is 64.5 meters away at (59.4, -25.1). A pedestrian with ID 19 is 65.3 meters away at (60.4, -24.8). A vehicle with ID 20 is 70.1 meters away at (58.0, -39.4).

The unknown object with ID 22 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 pedestrian with ID 2 is traveling at a (x, y) velocity of [ 0.00672692 -0.02479624] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [1.2676305 1.8422765] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.0162311  -0.00231701] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.02083402  0.00889184] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.04358357 0.12823257] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [-0.02862079 -0.00238557] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.0200051   0.01592655] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 5.3) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 19.9 meters away at (-7.3, 18.5). A unknown object with ID 10 is 38.4 meters away at (29.0, -25.2). A unknown object with ID 22 is 38.5 meters away at (28.8, -25.5). A unknown object with ID 7 is 67.5 meters away at (63.7, -22.4). A vehicle with ID 5 is 77.3 meters away at (74.1, -22.2).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.06113283  0.0042108 ] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.66 radians with an angular velocity of -0.66 rad/s.

The most relevant actors are: A pedestrian with ID 50 is 13.7 meters away at (-13.5, 2.2). A vehicle with ID 51 is 16.3 meters away at (-0.2, -16.3). A vehicle with ID 9 is 20.4 meters away at (20.2, 2.5). A vehicle with ID 52 is 20.8 meters away at (-4.0, -20.4). A vehicle with ID 53 is 25.4 meters away at (5.7, -24.7). A unknown object with ID 16 is 25.7 meters away at (17.7, 18.7). A vehicle with ID 54 is 26.6 meters away at (-8.1, -25.3). A vehicle with ID 55 is 28.0 meters away at (2.0, -27.9). A pedestrian with ID 40 is 31.8 meters away at (1.2, 31.8). A vehicle with ID 56 is 32.4 meters away at (-1.6, -32.4).

The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.0541672  -0.80354095] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.5841064  -0.55349934] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 [-0.09808685 -0.09312867] m/s.The vehicle 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 (2.8, -2.1) m/s. Its current heading (yaw) is -0.65 radians with an angular velocity of -0.65 rad/s.

The most relevant actors are: A unknown object with ID 45 is 4.4 meters away at (-3.0, -3.2). A pedestrian with ID 50 is 14.1 meters away at (-13.9, 2.6). A vehicle with ID 51 is 14.5 meters away at (-2.9, -14.2). A vehicle with ID 9 is 17.6 meters away at (17.1, 4.1). A vehicle with ID 52 is 19.5 meters away at (-6.7, -18.3). A unknown object with ID 24 is 21.2 meters away at (-20.0, 6.8). A vehicle with ID 53 is 22.8 meters away at (2.9, -22.6). A vehicle with ID 54 is 25.6 meters away at (-10.8, -23.2). A vehicle with ID 55 is 25.9 meters away at (-0.8, -25.8). A vehicle with ID 56 is 30.6 meters away at (-4.3, -30.3).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.3008494 -0.858031 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -3.7) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A vehicle with ID 9 is 13.2 meters away at (8.9, 9.8). A vehicle with ID 51 is 13.7 meters away at (-10.9, -8.4). A vehicle with ID 53 is 17.4 meters away at (-5.0, -16.7). A vehicle with ID 52 is 19.2 meters away at (-14.6, -12.5). A pedestrian with ID 50 is 20.5 meters away at (-19.3, 6.9). A pedestrian with ID 41 is 21.1 meters away at (12.9, -16.7). A vehicle with ID 55 is 21.8 meters away at (-8.7, -19.9). A vehicle with ID 54 is 25.6 meters away at (-18.7, -17.5). A unknown object with ID 44 is 25.8 meters away at (16.4, -19.9). A pedestrian with ID 49 is 26.7 meters away at (17.7, -20.0).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.38086918 -0.6664734 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 1.2078097 -1.0591367] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.00093831  0.00085873] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.01122082 0.00044768] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -4.4) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A pedestrian with ID 41 is 9.2 meters away at (2.3, -8.9). A pedestrian with ID 49 is 14.3 meters away at (7.2, -12.4). A vehicle with ID 9 is 16.3 meters away at (-2.8, 16.0). A vehicle with ID 53 is 17.9 meters away at (-15.5, -9.0). A vehicle with ID 51 is 21.5 meters away at (-21.4, -0.7). A vehicle with ID 55 is 22.9 meters away at (-19.3, -12.3). A vehicle with ID 52 is 25.5 meters away at (-25.1, -4.7). A unknown object with ID 26 is 27.3 meters away at (16.9, -21.4). A vehicle with ID 56 is 28.2 meters away at (-22.7, -16.7). A pedestrian with ID 50 is 30.6 meters away at (-27.8, 12.8).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [ 0.01986761 -0.00401647] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.010736   -0.04596326] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-0.60695755 -0.9905399 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 50 is traveling at a (x, y) velocity of [ 1.0624855 -1.0027045] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 5.9) m/s. Its current heading (yaw) is 2.23 radians with an angular velocity of 2.23 rad/s.

The most relevant actors are: A vehicle with ID 55 is 14.2 meters away at (7.9, -11.7). A vehicle with ID 68 is 18.5 meters away at (-15.6, 9.9). A vehicle with ID 65 is 20.5 meters away at (-9.3, 18.2). A unknown object with ID 54 is 23.1 meters away at (11.3, -20.2). A vehicle with ID 58 is 23.4 meters away at (16.4, -16.7). A unknown object with ID 56 is 24.0 meters away at (19.7, -13.8). A pedestrian with ID 61 is 25.0 meters away at (-3.4, -24.7). A vehicle with ID 63 is 25.3 meters away at (-9.8, -23.4). A vehicle with ID 67 is 25.9 meters away at (-12.5, 22.7). A pedestrian with ID 62 is 25.9 meters away at (-2.2, -25.9).

The vehicle with ID 55 is traveling at a (x, y) velocity of [-5.5970063  2.721009 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 2.5488982 -3.6015873] m/s.The vehicle with ID 65 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 58 is traveling at a (x, y) velocity of [-3.995377   2.5488002] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.8139673 1.1465743] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.5642658 1.3038565] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 6.6) m/s. Its current heading (yaw) is 2.22 radians with an angular velocity of 2.22 rad/s.

The most relevant actors are: A vehicle with ID 65 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 68 is 9.2 meters away at (-2.1, -9.0). A vehicle with ID 67 is 10.5 meters away at (-2.9, 10.1). A vehicle with ID 70 is 15.8 meters away at (-6.2, 14.5). A vehicle with ID 55 is 23.5 meters away at (4.8, -23.0). A vehicle with ID 73 is 24.7 meters away at (-11.7, 21.8). A vehicle with ID 58 is 30.9 meters away at (18.9, -24.5). A vehicle with ID 29 is 31.1 meters away at (-15.5, 27.0). A vehicle with ID 63 is 36.1 meters away at (-0.5, -36.1). A pedestrian with ID 61 is 36.3 meters away at (8.2, -35.3).

The vehicle with ID 65 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 [ 1.3043252 -2.7003493] m/s.The vehicle with ID 67 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 55 is traveling at a (x, y) velocity of [-6.351069  -1.9402397] m/s.The vehicle with ID 73 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 [-3.382841  2.379045] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.95285374 0.9127893 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.9, 6.6) m/s. Its current heading (yaw) is 2.30 radians with an angular velocity of 2.30 rad/s.

The most relevant actors are: A vehicle with ID 70 is 5.1 meters away at (4.9, 1.5). A vehicle with ID 73 is 8.6 meters away at (-0.5, 8.6). A vehicle with ID 67 is 8.7 meters away at (8.2, -3.0). A vehicle with ID 65 is 13.4 meters away at (11.2, -7.4). A vehicle with ID 29 is 14.5 meters away at (-4.3, 13.8). A vehicle with ID 25 is 20.0 meters away at (-7.7, 18.5). A vehicle with ID 24 is 25.2 meters away at (-11.0, 22.7). A vehicle with ID 68 is 29.9 meters away at (10.5, -28.0). A vehicle with ID 52 is 31.4 meters away at (-14.5, 27.8). A vehicle with ID 10 is 37.7 meters away at (-18.3, 32.9).

The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [ 0.01068044 -3.5253332 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 6.3) 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 25 is 6.4 meters away at (3.3, 5.5). A vehicle with ID 29 is 6.7 meters away at (6.7, 1.0). A vehicle with ID 24 is 9.8 meters away at (0.0, 9.8). A vehicle with ID 73 is 11.1 meters away at (10.3, -4.2). A vehicle with ID 52 is 15.3 meters away at (-3.5, 14.9). A vehicle with ID 70 is 19.6 meters away at (15.9, -11.5). A vehicle with ID 10 is 21.3 meters away at (-7.2, 20.0). A vehicle with ID 9 is 21.7 meters away at (-10.3, 19.1). A vehicle with ID 67 is 25.0 meters away at (19.2, -16.0). A vehicle with ID 7 is 29.1 meters away at (-12.0, 26.5).

The vehicle with ID 25 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 9 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 7 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 (1.3, -1.0) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A pedestrian with ID 22 is 18.5 meters away at (-11.7, 14.4). A unknown object with ID 25 is 28.6 meters away at (-27.8, 6.6). A unknown object with ID 26 is 29.1 meters away at (-28.7, 5.1). A vehicle with ID 1 is 29.7 meters away at (-14.2, -26.0). A unknown object with ID 27 is 30.4 meters away at (-29.4, 7.6). A unknown object with ID 28 is 32.1 meters away at (-31.1, 7.8). A unknown object with ID 29 is 32.3 meters away at (-31.1, 8.7). A unknown object with ID 31 is 33.4 meters away at (-32.5, 7.4). A unknown object with ID 32 is 37.1 meters away at (-35.2, 11.9). A unknown object with ID 34 is 41.3 meters away at (-39.7, 11.3).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.04157371 -0.02170484] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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 28 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 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.The unknown object with ID 34 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 -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A pedestrian with ID 22 is 19.4 meters away at (-12.4, 14.9). A unknown object with ID 25 is 29.5 meters away at (-28.7, 7.0). A vehicle with ID 1 is 29.8 meters away at (-15.2, -25.6). A unknown object with ID 26 is 30.0 meters away at (-29.4, 5.5). A unknown object with ID 27 is 31.2 meters away at (-30.2, 8.1). A unknown object with ID 29 is 33.2 meters away at (-31.8, 9.3). A unknown object with ID 31 is 34.3 meters away at (-33.3, 8.2). A unknown object with ID 32 is 38.0 meters away at (-36.0, 12.4). A unknown object with ID 34 is 42.1 meters away at (-40.4, 11.8). A unknown object with ID 36 is 44.1 meters away at (-41.4, 15.0).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.06034466  0.0429051 ] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 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.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A pedestrian with ID 22 is 21.6 meters away at (-14.3, 16.2). A vehicle with ID 1 is 29.8 meters away at (-17.0, -24.4). A unknown object with ID 25 is 31.6 meters away at (-30.4, 8.4). A unknown object with ID 26 is 32.1 meters away at (-31.3, 6.9). A unknown object with ID 27 is 33.4 meters away at (-32.1, 9.4). A unknown object with ID 15 is 35.1 meters away at (-33.7, 9.6). A unknown object with ID 29 is 35.3 meters away at (-33.7, 10.5). A unknown object with ID 13 is 36.4 meters away at (-35.2, 9.3). A unknown object with ID 32 is 40.2 meters away at (-37.8, 13.7). A unknown object with ID 34 is 44.3 meters away at (-42.4, 13.1).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.03466946 -0.00128394] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 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 (1.5, -2.0) m/s. Its current heading (yaw) is -0.93 radians with an angular velocity of -0.93 rad/s.

The most relevant actors are: A pedestrian with ID 22 is 25.7 meters away at (-17.6, 18.7). A vehicle with ID 1 is 29.8 meters away at (-20.3, -21.9). A unknown object with ID 25 is 35.4 meters away at (-33.7, 10.9). A unknown object with ID 26 is 35.8 meters away at (-34.5, 9.5). A unknown object with ID 27 is 37.3 meters away at (-35.3, 12.0). A unknown object with ID 15 is 38.9 meters away at (-36.9, 12.2). A unknown object with ID 29 is 39.2 meters away at (-37.0, 13.1). A unknown object with ID 13 is 40.2 meters away at (-38.4, 11.9). A unknown object with ID 32 is 44.2 meters away at (-41.1, 16.2). A unknown object with ID 16 is 47.1 meters away at (-43.6, 17.9).

The pedestrian with ID 22 is traveling at a (x, y) velocity of [ 0.10150407 -0.03909833] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -8.8) m/s. Its current heading (yaw) is -1.32 radians with an angular velocity of -1.32 rad/s.

The most relevant actors are: A unknown object with ID 61 is 15.1 meters away at (-11.1, -10.2). A unknown object with ID 79 is 15.8 meters away at (-15.3, 3.7). A unknown object with ID 51 is 15.8 meters away at (-10.7, -11.7). A unknown object with ID 84 is 18.9 meters away at (-11.0, -15.4). A unknown object with ID 85 is 19.9 meters away at (-10.3, -17.0). A unknown object with ID 82 is 35.5 meters away at (-18.4, 30.4). A vehicle with ID 36 is 67.5 meters away at (2.7, -67.4). A pedestrian with ID 49 is 70.7 meters away at (18.4, -68.3). A pedestrian with ID 50 is 72.4 meters away at (19.2, -69.8). A pedestrian with ID 68 is 72.5 meters away at (20.0, -69.7).

The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 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 pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.01580467 -0.01229573] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.01486535 -0.03411186] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [0.00429789 0.00353324] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, -8.7) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A unknown object with ID 85 is 15.3 meters away at (-15.3, 0.4). A unknown object with ID 51 is 15.9 meters away at (-14.9, 5.6). A unknown object with ID 84 is 16.2 meters away at (-16.0, 2.0). A unknown object with ID 75 is 16.8 meters away at (-15.8, 5.7). A unknown object with ID 28 is 17.1 meters away at (-16.8, 3.5). A unknown object with ID 46 is 17.4 meters away at (-17.0, 3.9). A unknown object with ID 61 is 17.7 meters away at (-16.2, 7.1). A vehicle with ID 36 is 49.6 meters away at (-2.3, -49.5). A pedestrian with ID 49 is 52.6 meters away at (13.3, -50.9). A pedestrian with ID 68 is 54.4 meters away at (14.8, -52.4).

The unknown object with ID 85 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 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.The unknown object with ID 61 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 pedestrian with ID 49 is traveling at a (x, y) velocity of [0.0119032  0.00527838] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.02025065 -0.00045403] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, -8.5) m/s. Its current heading (yaw) is -1.13 radians with an angular velocity of -1.13 rad/s.

The most relevant actors are: A unknown object with ID 85 is 28.6 meters away at (-22.3, 17.9). A unknown object with ID 56 is 29.5 meters away at (-22.9, 18.7). A unknown object with ID 84 is 30.2 meters away at (-23.0, 19.5). A unknown object with ID 28 is 31.9 meters away at (-23.8, 21.2). A unknown object with ID 75 is 32.5 meters away at (-22.8, 23.2). A vehicle with ID 36 is 33.4 meters away at (-9.5, -32.0). A unknown object with ID 61 is 33.9 meters away at (-23.2, 24.7). A pedestrian with ID 49 is 33.9 meters away at (6.3, -33.3). A pedestrian with ID 68 is 35.7 meters away at (7.9, -34.8). A pedestrian with ID 50 is 35.9 meters away at (7.2, -35.2).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 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 75 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 unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.04653411 -0.02366569] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.05974351 -0.04909124] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0467041  -0.06448045] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -8.4) m/s. Its current heading (yaw) is -1.03 radians with an angular velocity of -1.03 rad/s.

The most relevant actors are: A pedestrian with ID 49 is 16.4 meters away at (-2.5, -16.2). A unknown object with ID 31 is 16.7 meters away at (-1.5, -16.6). A pedestrian with ID 68 is 17.6 meters away at (-0.9, -17.6). A pedestrian with ID 50 is 18.0 meters away at (-1.6, -18.0). A pedestrian with ID 40 is 19.0 meters away at (-1.9, -18.9). A pedestrian with ID 73 is 20.5 meters away at (-1.1, -20.5). A pedestrian with ID 44 is 23.2 meters away at (17.0, -15.8). A vehicle with ID 36 is 23.5 meters away at (-18.3, -14.7). A unknown object with ID 34 is 27.7 meters away at (-17.0, -21.8). A vehicle with ID 45 is 30.0 meters away at (10.5, -28.1).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [ 0.07895321 -0.00536909] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 0.10468259 -0.09563807] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [ 0.0419176  -0.00670435] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.01130542 -0.03144883] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.32459942 0.09457663] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01332186 0.00553626] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.3937387  2.7660048] m/s.

Instruction: Slight right turn approaching.