The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.4) m/s. Its current heading (yaw) is -2.15 radians with an angular velocity of -2.15 rad/s.

The most relevant actors are: A vehicle with ID 72 is 7.8 meters away at (-0.3, 7.8). A unknown object with ID 48 is 11.0 meters away at (-7.3, 8.2). A vehicle with ID 68 is 13.2 meters away at (1.3, 13.1). A vehicle with ID 70 is 15.7 meters away at (9.7, -12.3). A vehicle with ID 67 is 18.8 meters away at (3.3, 18.5). A unknown object with ID 41 is 20.9 meters away at (0.0, -20.9). A vehicle with ID 21 is 21.0 meters away at (-21.0, 1.3). A vehicle with ID 69 is 22.5 meters away at (12.0, 19.0). A vehicle with ID 71 is 23.3 meters away at (4.8, 22.9). A vehicle with ID 91 is 24.1 meters away at (-10.8, -21.5).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -1.0) m/s. Its current heading (yaw) is -2.94 radians with an angular velocity of -2.94 rad/s.

The most relevant actors are: A vehicle with ID 72 is 13.7 meters away at (6.0, 12.3). A vehicle with ID 21 is 15.7 meters away at (-14.7, 5.6). A unknown object with ID 41 is 17.6 meters away at (6.4, -16.4). A vehicle with ID 91 is 17.7 meters away at (-4.6, -17.2). A vehicle with ID 70 is 17.8 meters away at (15.9, -8.0). A vehicle with ID 20 is 18.2 meters away at (-18.0, -2.5). A vehicle with ID 68 is 19.2 meters away at (7.6, 17.6). A vehicle with ID 17 is 23.3 meters away at (-23.3, -0.6). A vehicle with ID 67 is 25.0 meters away at (9.6, 23.1). A vehicle with ID 93 is 26.8 meters away at (-7.4, -25.7).

The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 68 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -0.9) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 36 is 9.3 meters away at (5.4, -7.6). A vehicle with ID 32 is 9.4 meters away at (7.8, -5.2). A vehicle with ID 33 is 13.2 meters away at (-13.1, 1.7). A pedestrian with ID 40 is 15.6 meters away at (2.6, -15.4). A vehicle with ID 39 is 18.0 meters away at (1.0, 18.0). A vehicle with ID 38 is 19.0 meters away at (-18.3, 5.0). A pedestrian with ID 44 is 23.4 meters away at (5.7, -22.6). A vehicle with ID 47 is 24.2 meters away at (23.9, -3.8). A pedestrian with ID 46 is 24.2 meters away at (6.7, -23.3). A pedestrian with ID 53 is 25.2 meters away at (23.9, 8.0).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.1987664 -0.680066 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.00488798  0.01831352] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.02612631  0.00415126] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.641912   -0.30596438] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -0.0) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 36 is 8.4 meters away at (4.6, -7.0). A vehicle with ID 32 is 8.5 meters away at (7.1, -4.7). A vehicle with ID 33 is 14.0 meters away at (-13.8, 2.3). A pedestrian with ID 40 is 16.7 meters away at (4.1, -16.2). A vehicle with ID 39 is 18.5 meters away at (0.3, 18.5). A vehicle with ID 38 is 19.9 meters away at (-19.1, 5.6). A pedestrian with ID 44 is 22.7 meters away at (4.9, -22.2). A vehicle with ID 47 is 23.4 meters away at (23.1, -3.2). A pedestrian with ID 46 is 23.5 meters away at (6.0, -22.7). A pedestrian with ID 53 is 24.4 meters away at (22.9, 8.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.0593542  -0.70878625] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.04670835 -0.01152391] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.00384936 0.00762551] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.00489468  0.00337948] 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 -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (4.5, -6.9). A vehicle with ID 32 is 8.4 meters away at (7.0, -4.6). A vehicle with ID 33 is 14.2 meters away at (-14.0, 2.4). A pedestrian with ID 40 is 18.5 meters away at (6.1, -17.4). A vehicle with ID 39 is 18.6 meters away at (0.2, 18.6). A vehicle with ID 38 is 20.0 meters away at (-19.2, 5.7). A pedestrian with ID 44 is 22.7 meters away at (4.8, -22.1). A vehicle with ID 47 is 23.2 meters away at (23.0, -3.1). A pedestrian with ID 46 is 23.4 meters away at (5.8, -22.7). A pedestrian with ID 53 is 24.3 meters away at (22.7, 8.7).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [ 0.9829867 -0.3692406] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [-0.01094582 -0.00039186] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.0089768  -0.01524848] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-1.9975265e-02  1.9382798e-05] 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 -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 36 is 8.2 meters away at (4.5, -6.9). A vehicle with ID 32 is 8.3 meters away at (6.9, -4.6). A vehicle with ID 33 is 14.2 meters away at (-14.0, 2.4). A vehicle with ID 39 is 18.6 meters away at (0.2, 18.6). A pedestrian with ID 40 is 18.8 meters away at (6.4, -17.6). A vehicle with ID 38 is 20.0 meters away at (-19.2, 5.7). A pedestrian with ID 44 is 22.6 meters away at (4.8, -22.1). A vehicle with ID 47 is 23.1 meters away at (22.9, -3.1). A pedestrian with ID 46 is 23.3 meters away at (5.8, -22.6). A pedestrian with ID 53 is 23.6 meters away at (22.0, 8.7).

The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00038877  0.00342251] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.00141739 0.00021702] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [0.00079292 0.00206302] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.42213914 -0.00421319] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.7, -9.1) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 21 is 9.2 meters away at (-4.9, -7.8). A unknown object with ID 16 is 24.3 meters away at (-22.4, -9.5). A vehicle with ID 20 is 27.8 meters away at (24.1, 14.0). A vehicle with ID 15 is 41.6 meters away at (-31.4, -27.3). A vehicle with ID 18 is 61.3 meters away at (-47.1, -39.2).

The vehicle with ID 21 is traveling at a (x, y) velocity of [10.162526   7.5862775] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [10.414511  7.798986] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.560669 7.091998] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [8.9648075 6.662872 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.6, -9.0) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 18 is 9.1 meters away at (-5.2, -7.5). A vehicle with ID 15 is 12.8 meters away at (11.7, 5.1). A vehicle with ID 21 is 47.6 meters away at (39.8, 26.0).

The vehicle with ID 18 is traveling at a (x, y) velocity of [9.528674  7.1053376] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.852404  7.2924466] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [11.041788  8.163543] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.2, -8.7) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A unknown object with ID 14 is 31.4 meters away at (20.7, 23.7). A vehicle with ID 18 is 44.8 meters away at (37.2, 24.8). A vehicle with ID 15 is 65.5 meters away at (53.9, 37.3).

The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [10.280049   7.5696282] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.852583 7.240505] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-11.0, -8.4) 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 19 is 27.8 meters away at (-20.1, -19.2). A vehicle with ID 12 is 59.5 meters away at (-45.3, -38.5).

The vehicle with ID 19 is traveling at a (x, y) velocity of [11.152282  8.195741] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [11.018877  8.168961] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 0.3) m/s. Its current heading (yaw) is 2.93 radians with an angular velocity of 2.93 rad/s.

The most relevant actors are: A unknown object with ID 62 is 12.9 meters away at (4.4, 12.1). A unknown object with ID 61 is 12.9 meters away at (6.3, 11.3). A unknown object with ID 57 is 13.1 meters away at (3.2, 12.7). A unknown object with ID 58 is 13.2 meters away at (2.8, 12.9). A unknown object with ID 60 is 14.3 meters away at (1.7, 14.2). A unknown object with ID 67 is 14.3 meters away at (1.7, 14.2). A unknown object with ID 65 is 14.3 meters away at (8.4, 11.6). A unknown object with ID 59 is 15.4 meters away at (7.1, 13.7). A unknown object with ID 73 is 16.1 meters away at (0.6, 16.1). A unknown object with ID 75 is 18.1 meters away at (-0.2, 18.1).

The unknown object with ID 62 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 unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.93 radians with an angular velocity of 2.93 rad/s.

The most relevant actors are: A vehicle with ID 80 is 11.9 meters away at (11.9, -1.2). A unknown object with ID 62 is 13.0 meters away at (5.3, 11.9). A unknown object with ID 57 is 13.2 meters away at (4.2, 12.5). A unknown object with ID 61 is 13.2 meters away at (7.2, 11.1). A unknown object with ID 58 is 13.3 meters away at (3.7, 12.8). A unknown object with ID 67 is 14.3 meters away at (2.6, 14.1). A unknown object with ID 65 is 14.8 meters away at (9.3, 11.5). A unknown object with ID 59 is 15.5 meters away at (7.9, 13.4). A unknown object with ID 73 is 16.0 meters away at (1.5, 15.9). A unknown object with ID 75 is 17.8 meters away at (0.8, 17.8).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-5.5899706  2.3934436] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 0.2) m/s. Its current heading (yaw) is 3.02 radians with an angular velocity of 3.02 rad/s.

The most relevant actors are: A vehicle with ID 80 is 4.9 meters away at (4.3, 2.3). A unknown object with ID 57 is 13.6 meters away at (5.8, 12.3). A unknown object with ID 62 is 13.6 meters away at (7.0, 11.6). A unknown object with ID 58 is 13.6 meters away at (5.4, 12.5). A unknown object with ID 61 is 14.0 meters away at (8.9, 10.8). A unknown object with ID 67 is 14.4 meters away at (4.3, 13.7). A unknown object with ID 65 is 15.7 meters away at (11.1, 11.1). A unknown object with ID 73 is 16.0 meters away at (3.3, 15.6). A unknown object with ID 59 is 16.4 meters away at (9.7, 13.2). A unknown object with ID 52 is 17.1 meters away at (-11.1, -13.0).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-3.3051653  1.3782988] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 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 unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.1) m/s. Its current heading (yaw) is 3.06 radians with an angular velocity of 3.06 rad/s.

The most relevant actors are: A vehicle with ID 80 is 4.6 meters away at (2.6, 3.8). A vehicle with ID 83 is 14.5 meters away at (-14.5, -1.0). A unknown object with ID 58 is 14.6 meters away at (7.9, 12.3). A unknown object with ID 57 is 14.6 meters away at (8.2, 12.1). A unknown object with ID 62 is 14.8 meters away at (9.3, 11.5). A unknown object with ID 67 is 15.1 meters away at (6.6, 13.6). A unknown object with ID 61 is 15.6 meters away at (11.3, 10.7). A unknown object with ID 52 is 15.8 meters away at (-8.7, -13.1). A unknown object with ID 21 is 16.5 meters away at (-10.1, -13.1). A unknown object with ID 73 is 16.5 meters away at (5.6, 15.5).

The vehicle with ID 80 is traveling at a (x, y) velocity of [-0.51998365  0.20680533] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [3.6404903 7.788767 ] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 7.4) 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 24 is 10.5 meters away at (-5.2, 9.1). A unknown object with ID 25 is 11.7 meters away at (-4.0, 11.0). A cyclist with ID 2 is 17.2 meters away at (-3.4, -16.9). A unknown object with ID 22 is 22.8 meters away at (-11.3, -19.8). A unknown object with ID 11 is 23.1 meters away at (-8.2, -21.7). A unknown object with ID 23 is 31.1 meters away at (-12.5, -28.4). A unknown object with ID 14 is 38.7 meters away at (-0.4, -38.7).

The unknown object with ID 24 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 cyclist with ID 2 is traveling at a (x, y) velocity of [1.332239  7.5816355] 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 7.9) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A unknown object with ID 25 is 9.8 meters away at (-8.9, -4.3). A unknown object with ID 24 is 11.8 meters away at (-10.0, -6.2). A pedestrian with ID 21 is 14.0 meters away at (-12.1, 7.1). A cyclist with ID 2 is 17.5 meters away at (-4.9, -16.7). A unknown object with ID 23 is 47.1 meters away at (-17.3, -43.8).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00367167  0.01125633] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [1.8733536 7.4672956] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 7.7) m/s. Its current heading (yaw) is 1.21 radians with an angular velocity of 1.21 rad/s.

The most relevant actors are: A cyclist with ID 2 is 18.4 meters away at (-5.9, -17.4). A pedestrian with ID 21 is 19.5 meters away at (-17.6, -8.5). A unknown object with ID 25 is 24.6 meters away at (-14.4, -20.0). A unknown object with ID 24 is 26.8 meters away at (-15.5, -21.9). A unknown object with ID 23 is 63.7 meters away at (-22.9, -59.5).

The cyclist with ID 2 is traveling at a (x, y) velocity of [2.6407878 7.7118087] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.02614564 0.02354676] 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 7.5) m/s. Its current heading (yaw) is 1.19 radians with an angular velocity of 1.19 rad/s.

The most relevant actors are: A cyclist with ID 2 is 18.1 meters away at (-6.5, -16.9). A pedestrian with ID 21 is 33.2 meters away at (-23.5, -23.5). A unknown object with ID 25 is 40.4 meters away at (-20.3, -35.0). A unknown object with ID 24 is 42.7 meters away at (-21.5, -36.9). A unknown object with ID 23 is 79.9 meters away at (-28.9, -74.4).

The cyclist with ID 2 is traveling at a (x, y) velocity of [2.7204626 7.6690383] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00799452  0.0110408 ] 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, 0.5) m/s. Its current heading (yaw) is 2.40 radians with an angular velocity of 2.40 rad/s.

The most relevant actors are: A vehicle with ID 16 is 4.5 meters away at (1.4, 4.3). A vehicle with ID 17 is 6.8 meters away at (6.8, -0.4). A vehicle with ID 18 is 7.6 meters away at (5.6, -5.1). A vehicle with ID 20 is 8.6 meters away at (-6.4, 5.7). A vehicle with ID 21 is 9.3 meters away at (-3.7, 8.5). A vehicle with ID 24 is 10.8 meters away at (-10.8, 0.1). A pedestrian with ID 22 is 14.2 meters away at (14.1, -1.7). A pedestrian with ID 23 is 14.9 meters away at (14.8, -1.4). A pedestrian with ID 19 is 15.0 meters away at (15.0, -0.6). A vehicle with ID 27 is 15.7 meters away at (-12.1, 10.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-0.9835547   0.86944044] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.285009 -5.286527] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8367538  0.6976257] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.87434006  0.72741854] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.852991   0.6773318] 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 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.1). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 9.0 meters away at (-3.4, 8.3). A pedestrian with ID 22 is 12.8 meters away at (12.7, -0.3). A vehicle with ID 24 is 13.2 meters away at (4.0, -12.5). A pedestrian with ID 23 is 13.4 meters away at (13.4, -0.1). A pedestrian with ID 19 is 13.7 meters away at (13.7, 0.5). A vehicle with ID 27 is 15.3 meters away at (-11.7, 9.9).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.8544555   0.67951906] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.042327  -6.8517213] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.8348776  0.6793808] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.8053284  0.6829947] 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 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.0). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 8.9 meters away at (-3.4, 8.3). A pedestrian with ID 22 is 11.0 meters away at (11.0, 1.0). A pedestrian with ID 23 is 11.9 meters away at (11.8, 1.3). A pedestrian with ID 19 is 12.2 meters away at (12.1, 1.9). A vehicle with ID 27 is 15.3 meters away at (-11.8, 9.9). A vehicle with ID 37 is 19.7 meters away at (15.0, -12.7).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.81001836  0.70696294] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.7797733  0.7232557] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.80208546  0.7537125 ] m/s.The vehicle with ID 27 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 [-0.5266488   0.43477315] 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 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 16 is 4.4 meters away at (1.7, 4.0). A vehicle with ID 18 is 6.6 meters away at (4.8, -4.5). A vehicle with ID 17 is 7.1 meters away at (7.1, -0.6). A vehicle with ID 20 is 8.2 meters away at (-6.1, 5.5). A vehicle with ID 21 is 8.9 meters away at (-3.3, 8.3). A pedestrian with ID 22 is 9.5 meters away at (9.2, 2.5). A pedestrian with ID 23 is 10.5 meters away at (10.1, 2.7). A pedestrian with ID 19 is 11.1 meters away at (10.6, 3.3). A vehicle with ID 27 is 15.3 meters away at (-11.7, 9.9). A vehicle with ID 37 is 19.4 meters away at (14.8, -12.5).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-0.82923716  0.72548026] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.818941   0.6719571] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.79138947  0.67260724] m/s.The vehicle with ID 27 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 (-6.5, 3.2) m/s. Its current heading (yaw) is 2.68 radians with an angular velocity of 2.68 rad/s.

The most relevant actors are: A unknown object with ID 52 is 7.9 meters away at (-2.1, 7.6). A vehicle with ID 56 is 26.3 meters away at (-11.3, 23.8). A unknown object with ID 50 is 26.9 meters away at (25.4, -9.0). A vehicle with ID 49 is 27.1 meters away at (-27.1, -0.4). A vehicle with ID 57 is 29.8 meters away at (-6.1, 29.2). A vehicle with ID 27 is 33.0 meters away at (-32.3, -6.9). A vehicle with ID 59 is 34.7 meters away at (-1.7, 34.6). A vehicle with ID 53 is 46.2 meters away at (46.2, 1.3). A vehicle with ID 47 is 46.6 meters away at (-41.5, 21.2). A vehicle with ID 54 is 47.8 meters away at (46.8, 9.8).

The unknown object with ID 52 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 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 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 59 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 47 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 4.2) m/s. Its current heading (yaw) is 2.51 radians with an angular velocity of 2.51 rad/s.

The most relevant actors are: A unknown object with ID 52 is 9.8 meters away at (9.8, -0.4). A vehicle with ID 56 is 15.8 meters away at (0.7, 15.8). A vehicle with ID 49 is 17.3 meters away at (-15.2, -8.3). A vehicle with ID 57 is 22.0 meters away at (5.9, 21.2). A vehicle with ID 27 is 25.2 meters away at (-20.4, -14.9). A vehicle with ID 59 is 28.5 meters away at (10.4, 26.6). A unknown object with ID 45 is 31.6 meters away at (-21.7, 23.0). A vehicle with ID 47 is 32.4 meters away at (-29.5, 13.3). A vehicle with ID 35 is 32.7 meters away at (-25.2, -20.7). A vehicle with ID 48 is 38.1 meters away at (-34.0, 17.2).

The unknown object with ID 52 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, 4.9) m/s. Its current heading (yaw) is 2.50 radians with an angular velocity of 2.50 rad/s.

The most relevant actors are: A vehicle with ID 56 is 14.5 meters away at (12.8, 6.8). A vehicle with ID 49 is 17.5 meters away at (-3.0, -17.2). A vehicle with ID 47 is 17.9 meters away at (-17.4, 4.3). A vehicle with ID 57 is 21.9 meters away at (18.1, 12.3). A vehicle with ID 48 is 23.3 meters away at (-21.8, 8.1). A unknown object with ID 52 is 23.9 meters away at (22.0, -9.4). A vehicle with ID 27 is 25.3 meters away at (-8.4, -23.8). A vehicle with ID 59 is 28.5 meters away at (22.4, 17.6). A vehicle with ID 35 is 32.5 meters away at (-13.2, -29.7). A vehicle with ID 46 is 34.9 meters away at (-31.0, 16.1).

The vehicle with ID 56 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 4.8) m/s. Its current heading (yaw) is 2.48 radians with an angular velocity of 2.48 rad/s.

The most relevant actors are: A vehicle with ID 47 is 7.2 meters away at (-4.7, -5.4). A vehicle with ID 48 is 9.1 meters away at (-9.0, -1.7). A vehicle with ID 46 is 19.2 meters away at (-18.2, 6.3). A vehicle with ID 56 is 25.8 meters away at (25.6, -3.0). A vehicle with ID 49 is 28.7 meters away at (9.7, -27.1). A vehicle with ID 57 is 30.9 meters away at (30.8, 2.5). A vehicle with ID 6 is 32.0 meters away at (-22.5, 22.8). A vehicle with ID 27 is 33.9 meters away at (4.4, -33.6). A vehicle with ID 12 is 37.1 meters away at (-36.3, 7.6). A vehicle with ID 3 is 38.1 meters away at (-27.0, 26.9).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.4) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 42 is 19.8 meters away at (-14.7, -13.3). A vehicle with ID 43 is 21.0 meters away at (-17.1, -12.2). A vehicle with ID 44 is 22.4 meters away at (-19.5, -11.1). A vehicle with ID 34 is 24.4 meters away at (-22.1, -10.3). A vehicle with ID 39 is 26.7 meters away at (-24.9, -9.5). A vehicle with ID 18 is 26.9 meters away at (-11.5, -24.3). A vehicle with ID 32 is 28.7 meters away at (-27.3, -8.7). A vehicle with ID 21 is 32.5 meters away at (-31.9, -6.4). A vehicle with ID 31 is 35.3 meters away at (-34.7, -6.3). A vehicle with ID 29 is 44.8 meters away at (-44.8, -2.4).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.3) m/s. Its current heading (yaw) is -1.88 radians with an angular velocity of -1.88 rad/s.

The most relevant actors are: A vehicle with ID 42 is 10.6 meters away at (-10.6, -0.8). A vehicle with ID 43 is 12.9 meters away at (-12.9, 0.4). A vehicle with ID 18 is 13.8 meters away at (-7.4, -11.7). A vehicle with ID 44 is 15.5 meters away at (-15.4, 1.5). A vehicle with ID 34 is 18.1 meters away at (-18.0, 2.4). A vehicle with ID 39 is 21.0 meters away at (-20.7, 3.1). A vehicle with ID 32 is 23.5 meters away at (-23.2, 4.0). A vehicle with ID 21 is 28.4 meters away at (-27.7, 6.2). A vehicle with ID 31 is 31.3 meters away at (-30.6, 6.4). A vehicle with ID 29 is 41.9 meters away at (-40.6, 10.3).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.4) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 18 is 3.2 meters away at (-3.1, 0.7). A vehicle with ID 42 is 13.2 meters away at (-6.4, 11.6). A vehicle with ID 43 is 15.5 meters away at (-8.8, 12.8). A vehicle with ID 44 is 17.8 meters away at (-11.2, 13.8). A vehicle with ID 34 is 20.0 meters away at (-13.7, 14.5). A vehicle with ID 39 is 22.7 meters away at (-16.5, 15.5). A vehicle with ID 32 is 25.1 meters away at (-19.1, 16.3). A vehicle with ID 19 is 33.8 meters away at (-14.4, -30.6). A unknown object with ID 27 is 35.7 meters away at (3.9, 35.5).

The vehicle with ID 18 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 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 vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.5) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 18 is 14.0 meters away at (1.5, 13.9). A vehicle with ID 19 is 20.0 meters away at (-9.8, -17.4). A vehicle with ID 42 is 24.9 meters away at (-1.7, 24.8). A unknown object with ID 23 is 46.9 meters away at (21.6, 41.7). A vehicle with ID 4 is 58.1 meters away at (-1.6, -58.1).

The vehicle with ID 18 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 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, 9.9) m/s. Its current heading (yaw) is 1.43 radians with an angular velocity of 1.43 rad/s.

The most relevant actors are: A vehicle with ID 9 is 13.5 meters away at (11.0, -7.8). A vehicle with ID 6 is 28.0 meters away at (25.2, -12.2). A vehicle with ID 11 is 52.5 meters away at (-3.3, -52.4).

The vehicle with ID 9 is traveling at a (x, y) velocity of [ -0.9620139 -13.604211 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.22535579 -1.6946766 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.2087332 17.341915 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 9.7) m/s. Its current heading (yaw) is 1.54 radians with an angular velocity of 1.54 rad/s.

The most relevant actors are: A vehicle with ID 3 is 38.4 meters away at (23.1, -30.6). A vehicle with ID 11 is 38.4 meters away at (-2.8, -38.3). A vehicle with ID 9 is 55.5 meters away at (6.8, -55.1). A vehicle with ID 1 is 75.6 meters away at (1.5, 75.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 1.0817591 16.261967 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ -1.2507583 -14.035072 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 9.2) m/s. Its current heading (yaw) is 1.69 radians with an angular velocity of 1.69 rad/s.

The most relevant actors are: A vehicle with ID 11 is 25.7 meters away at (-0.9, -25.7). A vehicle with ID 1 is 56.8 meters away at (2.1, 56.8).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.1955064 15.23823  ] m/s.The vehicle with ID 1 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 (-1.9, 7.1) m/s. Its current heading (yaw) is 1.83 radians with an angular velocity of 1.83 rad/s.

The most relevant actors are: A vehicle with ID 11 is 12.9 meters away at (-0.7, -12.9). A vehicle with ID 1 is 40.9 meters away at (5.3, 40.5).

The vehicle with ID 11 is traveling at a (x, y) velocity of [-2.74005  14.066375] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -4.3) m/s. Its current heading (yaw) is -0.55 radians with an angular velocity of -0.55 rad/s.

The most relevant actors are: A pedestrian with ID 71 is 8.6 meters away at (-7.7, -3.7). A unknown object with ID 63 is 8.7 meters away at (6.7, 5.5). A vehicle with ID 8 is 8.8 meters away at (-5.4, 7.0). A pedestrian with ID 69 is 9.2 meters away at (-8.9, -2.1). A pedestrian with ID 70 is 9.7 meters away at (-8.9, -3.8). A pedestrian with ID 73 is 9.7 meters away at (0.9, 9.7). A vehicle with ID 82 is 10.9 meters away at (7.3, -8.1). A pedestrian with ID 74 is 12.7 meters away at (-11.2, -6.0). A vehicle with ID 56 is 15.2 meters away at (4.7, 14.4). A vehicle with ID 34 is 16.4 meters away at (-13.6, 9.1).

The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.02158101  0.03923641] m/s.The unknown object with ID 63 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 [ 5.708062  -3.9475205] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.01852382  0.00952023] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.02233432  0.03038188] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.00433937  0.01564161] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.00577864 0.0142418 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-9.355413  6.66161 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.021926  -3.9857507] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.5, -4.9) m/s. Its current heading (yaw) is -0.58 radians with an angular velocity of -0.58 rad/s.

The most relevant actors are: A vehicle with ID 89 is 3.2 meters away at (-1.7, -2.7). A vehicle with ID 82 is 7.2 meters away at (-7.1, 1.0). A vehicle with ID 8 is 11.6 meters away at (-8.3, 8.1). A vehicle with ID 113 is 15.2 meters away at (6.4, 13.8). A unknown object with ID 63 is 16.7 meters away at (-7.9, 14.7). A vehicle with ID 34 is 18.9 meters away at (-16.0, 10.1). A vehicle with ID 16 is 19.0 meters away at (15.4, -11.2). A vehicle with ID 51 is 22.3 meters away at (-5.6, 21.6). A pedestrian with ID 71 is 23.0 meters away at (-22.4, 5.4). A pedestrian with ID 73 is 23.3 meters away at (-13.7, 18.8).

The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 6.3973823 -4.1888943] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [-7.8218436  4.9808917] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 6.302121  -4.1127586] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 7.763192  -5.3849244] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-8.027645  5.193649] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.01716594 -0.00866765] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.01597782 -0.0231334 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.4, -5.3) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A pedestrian with ID 107 is 8.3 meters away at (-0.9, -8.2). A pedestrian with ID 108 is 9.9 meters away at (-0.7, -9.9). A pedestrian with ID 114 is 12.6 meters away at (0.6, -12.6). A vehicle with ID 65 is 13.3 meters away at (2.3, 13.1). A vehicle with ID 8 is 13.5 meters away at (-9.5, 9.6). A vehicle with ID 55 is 15.5 meters away at (8.3, 13.1). A vehicle with ID 89 is 18.0 meters away at (-16.3, 7.7). A vehicle with ID 16 is 19.9 meters away at (16.2, -11.5). A vehicle with ID 34 is 22.3 meters away at (-18.4, 12.5). A pedestrian with ID 103 is 24.5 meters away at (9.7, 22.5).

The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.57337654  0.8024663 ] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.7621195   0.68129003] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-1.3994259  0.9159997] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [-12.558164   8.169102] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.0129766 -4.715425 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [-8.815855  5.544186] m/s.The vehicle with ID 89 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 [ 7.823271  -5.1528897] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ 5.5866904 -3.570865 ] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [ 0.02110747 -0.00711214] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.3, -5.0) m/s. Its current heading (yaw) is -0.60 radians with an angular velocity of -0.60 rad/s.

The most relevant actors are: A pedestrian with ID 24 is 11.8 meters away at (6.5, -9.9). A pedestrian with ID 23 is 12.8 meters away at (7.1, -10.6). A pedestrian with ID 21 is 13.8 meters away at (8.3, -11.1). A vehicle with ID 8 is 14.5 meters away at (-10.0, 10.4). A pedestrian with ID 114 is 16.6 meters away at (-16.6, -0.2). A pedestrian with ID 108 is 17.0 meters away at (-16.9, 2.1). A pedestrian with ID 107 is 17.3 meters away at (-17.0, 3.4). A vehicle with ID 16 is 20.9 meters away at (17.5, -11.4). A pedestrian with ID 41 is 23.1 meters away at (18.5, 13.8). A vehicle with ID 67 is 23.2 meters away at (-4.9, 22.7).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01464064  0.01676283] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00374882  0.00224412] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [ 0.04748458 -0.02266353] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 7.1251397 -4.8785334] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [-1.2846534  1.1184479] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.88247114  0.8317633 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.8993884   0.61726105] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 8.026009 -5.087094] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [0.08616849 0.04669437] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [-8.434485  5.378326] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 3.4) m/s. Its current heading (yaw) is 0.81 radians with an angular velocity of 0.81 rad/s.

The most relevant actors are: A unknown object with ID 29 is 27.4 meters away at (-27.3, -1.7). A vehicle with ID 30 is 31.4 meters away at (17.6, -26.0). A pedestrian with ID 34 is 36.0 meters away at (12.5, -33.7). A pedestrian with ID 6 is 42.3 meters away at (22.3, 36.0).

The unknown object with ID 29 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 [ 4.600303  -2.3587146] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.3012891   0.41289005] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.06034532 0.01118968] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 3.0) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 34.0 meters away at (16.6, 29.7). A pedestrian with ID 7 is 35.3 meters away at (12.8, 32.9). A pedestrian with ID 34 is 39.1 meters away at (4.3, -38.9). A vehicle with ID 30 is 42.5 meters away at (21.7, -36.6). A unknown object with ID 2 is 75.8 meters away at (49.9, 57.1). A unknown object with ID 3 is 77.4 meters away at (51.3, 58.0).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00883316  0.01364411] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-0.21942605  1.0671512 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.2769808  0.4949529] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 5.3441415 -2.11263  ] m/s.The unknown object with ID 2 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 3.3) m/s. Its current heading (yaw) is 0.82 radians with an angular velocity of 0.82 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 26.0 meters away at (11.0, 23.6). A pedestrian with ID 7 is 28.9 meters away at (7.4, 28.0). A unknown object with ID 5 is 29.3 meters away at (9.5, 27.7). A pedestrian with ID 34 is 44.2 meters away at (-3.6, -44.0). A unknown object with ID 20 is 56.2 meters away at (14.5, 54.3). A unknown object with ID 2 is 67.5 meters away at (44.3, 51.0). A unknown object with ID 3 is 69.2 meters away at (45.7, 51.9).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00268386 -0.01968883] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.11716677 0.46430424] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-1.1943421  0.4928758] 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 2 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.1) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 16.8 meters away at (4.3, 16.2). A unknown object with ID 5 is 20.5 meters away at (2.8, 20.3). A pedestrian with ID 7 is 20.8 meters away at (0.5, 20.7). A unknown object with ID 10 is 45.4 meters away at (5.1, 45.1). A unknown object with ID 18 is 46.0 meters away at (4.5, 45.7). A unknown object with ID 20 is 47.5 meters away at (7.9, 46.9). A unknown object with ID 25 is 48.4 meters away at (7.6, 47.8). A unknown object with ID 27 is 48.7 meters away at (7.4, 48.1). A unknown object with ID 2 is 57.6 meters away at (37.6, 43.6). A unknown object with ID 3 is 59.2 meters away at (38.9, 44.6).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.030302    0.07712571] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.00596164 0.0150157 ] 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 18 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 25 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 2 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 3.7) m/s. Its current heading (yaw) is 1.98 radians with an angular velocity of 1.98 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 31.4 meters away at (1.6, -31.4). A vehicle with ID 10 is 35.5 meters away at (21.2, -28.5). A unknown object with ID 12 is 45.6 meters away at (-26.2, -37.4). A vehicle with ID 14 is 69.3 meters away at (-26.3, 64.2).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1483023  -0.10038078] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-1.9768544  2.440223 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.2664322  7.3763824] 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, 3.0) m/s. Its current heading (yaw) is 2.13 radians with an angular velocity of 2.13 rad/s.

The most relevant actors are: A vehicle with ID 10 is 37.2 meters away at (20.4, -31.1). A pedestrian with ID 2 is 38.6 meters away at (2.8, -38.5). A vehicle with ID 14 is 76.5 meters away at (-24.6, 72.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-2.4756296  1.8117675] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.1229402 -0.6576586] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.73555243  7.7603264 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 2.1) 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 10 is 38.3 meters away at (18.2, -33.7). A pedestrian with ID 2 is 45.4 meters away at (4.4, -45.2).

The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.4399984  0.6750379] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0761819  -0.91244906] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 0.7) m/s. Its current heading (yaw) is 2.88 radians with an angular velocity of 2.88 rad/s.

The most relevant actors are: A unknown object with ID 6 is 8.5 meters away at (-6.1, -5.8). A vehicle with ID 10 is 40.0 meters away at (15.8, -36.8).

The unknown object with ID 6 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 [-3.36866   -1.1919527] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -3.1) m/s. Its current heading (yaw) is -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 31.3 meters away at (-7.0, -30.5). A unknown object with ID 7 is 34.2 meters away at (-33.6, 6.0). A pedestrian with ID 11 is 53.3 meters away at (18.9, 49.9). A pedestrian with ID 10 is 53.3 meters away at (19.6, 49.6). A vehicle with ID 1 is 74.0 meters away at (-72.1, 16.8).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.345613   -0.39849034] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.40183228 -0.8178819 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.3102702 -0.8049791] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.95456   -2.0637121] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -1.5) m/s. Its current heading (yaw) is -1.43 radians with an angular velocity of -1.43 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 27.3 meters away at (-4.5, -26.9). A unknown object with ID 7 is 35.5 meters away at (-33.9, 10.5). A unknown object with ID 2 is 37.4 meters away at (-35.7, 11.2). A unknown object with ID 8 is 54.9 meters away at (2.9, 54.8). A pedestrian with ID 10 is 56.0 meters away at (18.6, 52.8). A pedestrian with ID 11 is 56.0 meters away at (17.9, 53.1). A vehicle with ID 1 is 65.3 meters away at (-63.0, 17.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.284368  -0.5278403] 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 2 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 10 is traveling at a (x, y) velocity of [-0.51583445 -0.80119467] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.4981735  -0.80354035] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 5.1841426 -2.4278426] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 radians with an angular velocity of -1.36 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 27.2 meters away at (-2.0, -27.1). A unknown object with ID 7 is 36.0 meters away at (-34.1, 11.4). A pedestrian with ID 10 is 55.2 meters away at (17.7, 52.2). A pedestrian with ID 11 is 55.2 meters away at (16.9, 52.5). A vehicle with ID 1 is 55.3 meters away at (-53.6, 13.9). A unknown object with ID 8 is 56.5 meters away at (2.4, 56.4).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.2487817  -0.28647023] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.33538392 -0.7492478 ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.3227642 -0.7845145] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.9341564 -2.0555286] m/s.The unknown object with ID 8 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 -1.36 radians with an angular velocity of -1.36 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 28.1 meters away at (0.6, -28.1). A unknown object with ID 7 is 36.0 meters away at (-34.1, 11.5). A vehicle with ID 1 is 45.3 meters away at (-44.2, 10.0). A pedestrian with ID 10 is 53.4 meters away at (16.8, 50.6). A pedestrian with ID 11 is 53.6 meters away at (16.2, 51.1). A unknown object with ID 8 is 56.7 meters away at (2.3, 56.7).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 1.3959026  -0.41221628] m/s.The unknown object with ID 7 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 [ 4.8854346 -2.053363 ] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.51830393 -0.629463  ] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.53442395 -0.65090126] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -9.2) m/s. Its current heading (yaw) is -2.13 radians with an angular velocity of -2.13 rad/s.

The most relevant actors are: A vehicle with ID 42 is 8.7 meters away at (-1.8, 8.5). A vehicle with ID 46 is 9.6 meters away at (8.7, -4.1). A vehicle with ID 49 is 10.9 meters away at (5.5, -9.4). A vehicle with ID 44 is 11.4 meters away at (11.4, 0.8). A vehicle with ID 50 is 11.5 meters away at (-10.3, -5.0). A unknown object with ID 36 is 13.3 meters away at (2.3, 13.1). A vehicle with ID 37 is 14.5 meters away at (1.7, 14.4). A vehicle with ID 51 is 14.5 meters away at (2.5, -14.3). A unknown object with ID 34 is 15.9 meters away at (4.2, 15.3). A vehicle with ID 53 is 16.9 meters away at (-13.5, -10.1).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 unknown object 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -9.3) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 55 is 6.1 meters away at (-4.8, 3.7). A pedestrian with ID 58 is 7.7 meters away at (5.7, -5.2). A cyclist with ID 59 is 8.0 meters away at (6.1, -5.2). A vehicle with ID 53 is 8.4 meters away at (-2.1, 8.2). A vehicle with ID 57 is 9.8 meters away at (7.7, -6.1). A vehicle with ID 54 is 10.7 meters away at (10.6, -1.3). A vehicle with ID 61 is 12.1 meters away at (4.5, -11.3). A vehicle with ID 50 is 13.2 meters away at (1.0, 13.2). A vehicle with ID 51 is 14.4 meters away at (13.8, 3.9). A vehicle with ID 62 is 16.2 meters away at (1.5, -16.1).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.5783264  0.92604566] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [0.6270948  0.97694504] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 (-5.8, -9.5) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 65 is 6.2 meters away at (-5.5, 3.0). A vehicle with ID 63 is 7.9 meters away at (-2.6, 7.5). A vehicle with ID 67 is 8.6 meters away at (-8.4, -1.9). A vehicle with ID 64 is 10.0 meters away at (9.6, -2.6). A vehicle with ID 66 is 10.2 meters away at (6.7, -7.7). A vehicle with ID 62 is 13.1 meters away at (12.8, 2.4). A vehicle with ID 70 is 13.3 meters away at (3.3, -12.9). A vehicle with ID 71 is 13.5 meters away at (-11.6, -6.9). A vehicle with ID 61 is 17.5 meters away at (15.8, 7.4). A vehicle with ID 57 is 22.9 meters away at (19.1, 12.6).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -9.5) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 26 is 9.6 meters away at (7.5, -6.0). A vehicle with ID 71 is 11.9 meters away at (0.0, 11.9). A vehicle with ID 31 is 12.5 meters away at (4.3, -11.8). A vehicle with ID 70 is 15.9 meters away at (14.8, 5.8). A vehicle with ID 17 is 16.0 meters away at (-12.9, -9.6). A vehicle with ID 67 is 17.1 meters away at (3.2, 16.8). A vehicle with ID 19 is 20.1 meters away at (-1.1, -20.0). A vehicle with ID 18 is 20.7 meters away at (-15.5, -13.8). A vehicle with ID 66 is 21.3 meters away at (18.2, 11.1). A vehicle with ID 65 is 22.7 meters away at (6.2, 21.8).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 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 17 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 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -3.7) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A vehicle with ID 10 is 4.5 meters away at (-3.8, -2.4). A vehicle with ID 8 is 7.2 meters away at (0.8, -7.2). A vehicle with ID 15 is 8.3 meters away at (4.3, -7.1). A vehicle with ID 9 is 13.0 meters away at (5.6, -11.7). A pedestrian with ID 11 is 15.4 meters away at (7.2, -13.6). A vehicle with ID 12 is 16.8 meters away at (-14.5, 8.5). A pedestrian with ID 6 is 17.8 meters away at (-13.3, 11.8). A vehicle with ID 14 is 22.3 meters away at (-18.1, 13.0). A vehicle with ID 16 is 27.8 meters away at (-22.1, 17.0). A unknown object with ID 17 is 55.4 meters away at (-52.7, 17.4).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.6484711  1.3375114] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02730345 -0.02526498] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0198059  -0.09297346] m/s.The vehicle with ID 14 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 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 (3.6, -3.8) m/s. Its current heading (yaw) is -0.81 radians with an angular velocity of -0.81 rad/s.

The most relevant actors are: A vehicle with ID 9 is 5.1 meters away at (-1.8, -4.8). A vehicle with ID 15 is 5.9 meters away at (-5.5, 2.1). A vehicle with ID 8 is 6.6 meters away at (-6.6, -0.3). A pedestrian with ID 11 is 6.7 meters away at (-0.2, -6.7). A vehicle with ID 10 is 12.2 meters away at (-11.3, 4.6). A pedestrian with ID 2 is 23.3 meters away at (20.8, -10.5). A pedestrian with ID 3 is 23.7 meters away at (21.7, -9.6). A pedestrian with ID 1 is 24.0 meters away at (21.2, -11.1). A vehicle with ID 12 is 26.9 meters away at (-22.0, 15.4). A vehicle with ID 14 is 32.5 meters away at (-25.6, 20.0).

The vehicle with ID 9 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 [-1.9185381  1.7822806] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00290813 -0.02765683] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-1.0549855 -1.0268071] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.1516848 -1.0637326] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1268063 -1.0578363] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, -3.4) m/s. Its current heading (yaw) is -0.73 radians with an angular velocity of -0.73 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 7.7 meters away at (-7.7, 0.4). A vehicle with ID 9 is 9.3 meters away at (-9.0, 2.3). A pedestrian with ID 3 is 13.5 meters away at (13.1, -3.1). A pedestrian with ID 2 is 13.6 meters away at (13.0, -4.0). A pedestrian with ID 1 is 14.0 meters away at (13.1, -4.9). A vehicle with ID 8 is 15.6 meters away at (-14.0, 6.9). A vehicle with ID 10 is 21.9 meters away at (-18.5, 11.7). A vehicle with ID 15 is 25.7 meters away at (-19.6, 16.7). A vehicle with ID 12 is 37.0 meters away at (-29.2, 22.7). A vehicle with ID 14 is 42.7 meters away at (-32.8, 27.3).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.02170347 -0.02950756] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.5818266   0.03883423] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.11254863 -0.0572424 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00926686 -0.04794759] m/s.The vehicle with ID 8 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 15 is traveling at a (x, y) velocity of [-4.9129963  5.3997974] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -1.8) m/s. Its current heading (yaw) is -0.55 radians with an angular velocity of -0.55 rad/s.

The most relevant actors are: A pedestrian with ID 3 is 5.6 meters away at (5.1, 2.3). A pedestrian with ID 2 is 6.3 meters away at (6.2, 1.1). A pedestrian with ID 1 is 6.3 meters away at (6.3, 0.2). A pedestrian with ID 11 is 15.6 meters away at (-14.5, 5.6). A vehicle with ID 9 is 17.6 meters away at (-15.9, 7.6). A vehicle with ID 8 is 24.0 meters away at (-20.7, 12.2). A vehicle with ID 10 is 30.5 meters away at (-25.3, 17.1). A vehicle with ID 12 is 45.6 meters away at (-36.0, 28.0). A vehicle with ID 14 is 51.3 meters away at (-39.6, 32.6). A vehicle with ID 15 is 52.5 meters away at (-38.4, 35.8).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.4214572  -0.12602316] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.00111052 -0.02173056] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00475716 -0.00776572] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.00767308 -0.01154455] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.9187016  8.072739 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.1, -4.5) m/s. Its current heading (yaw) is -2.51 radians with an angular velocity of -2.51 rad/s.

The most relevant actors are: A vehicle with ID 4 is 5.4 meters away at (4.1, -3.5). A pedestrian with ID 1 is 59.8 meters away at (-26.4, -53.6).

The vehicle with ID 4 is traveling at a (x, y) velocity of [3.671338 3.015694] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01646321 0.7100664 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.5, -4.9) 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 4 is 23.7 meters away at (21.5, 9.9).

The vehicle with ID 4 is traveling at a (x, y) velocity of [0.60146755 0.72104657] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, -6.6) m/s. Its current heading (yaw) is -2.28 radians with an angular velocity of -2.28 rad/s.

The most relevant actors are: A vehicle with ID 4 is 40.3 meters away at (33.9, 21.8).

The vehicle with ID 4 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 (-3.9, -8.6) m/s. Its current heading (yaw) is -2.00 radians with an angular velocity of -2.00 rad/s.

The most relevant actors are: A vehicle with ID 4 is 57.3 meters away at (43.7, 37.1).

The vehicle with ID 4 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, -0.3) m/s. Its current heading (yaw) is -3.09 radians with an angular velocity of -3.09 rad/s.

The most relevant actors are: A unknown object with ID 35 is 17.2 meters away at (14.5, 9.2). A pedestrian with ID 2 is 50.7 meters away at (-49.9, 9.3). A vehicle with ID 42 is 53.7 meters away at (33.1, 42.3). A vehicle with ID 4 is 62.9 meters away at (-60.6, 17.0). A unknown object with ID 21 is 76.2 meters away at (-74.8, -14.1).

The unknown object with ID 35 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 [-0.01062581 -0.01824599] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.6099722 -8.961107 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.3) m/s. Its current heading (yaw) is -3.09 radians with an angular velocity of -3.09 rad/s.

The most relevant actors are: A unknown object with ID 30 is 21.3 meters away at (20.5, 5.9). A unknown object with ID 35 is 29.2 meters away at (27.5, 9.8). A pedestrian with ID 2 is 38.2 meters away at (-36.9, 10.0). A unknown object with ID 34 is 46.6 meters away at (44.2, 14.8). A vehicle with ID 42 is 49.1 meters away at (41.1, 26.8). A vehicle with ID 4 is 50.7 meters away at (-47.6, 17.4). A unknown object with ID 21 is 63.3 meters away at (-61.8, -13.5). A vehicle with ID 32 is 69.8 meters away at (-69.7, -2.2).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.08014921 0.01389177] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.1108868 -6.932674 ] m/s.The vehicle with ID 4 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 vehicle with ID 32 is traveling at a (x, y) velocity of [ 7.864724 12.816987] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, -0.3) m/s. Its current heading (yaw) is -3.09 radians with an angular velocity of -3.09 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 26.8 meters away at (-24.6, 10.7). A vehicle with ID 4 is 39.7 meters away at (-35.4, 17.9). A unknown object with ID 35 is 41.2 meters away at (39.8, 10.5). A pedestrian with ID 1 is 43.4 meters away at (-41.8, -11.6). A vehicle with ID 42 is 52.1 meters away at (49.8, 15.5).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [0.04487934 0.08820129] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.9723683 0.751075 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-1.5859758 -4.8202357] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.3) m/s. Its current heading (yaw) is -3.08 radians with an angular velocity of -3.08 rad/s.

The most relevant actors are: A pedestrian with ID 2 is 18.1 meters away at (-14.1, 11.3). A vehicle with ID 4 is 31.0 meters away at (-24.9, 18.5). A pedestrian with ID 1 is 31.1 meters away at (-29.4, -10.1). A unknown object with ID 5 is 45.4 meters away at (-41.6, 18.0). A unknown object with ID 6 is 45.4 meters away at (-40.9, 19.8). A unknown object with ID 9 is 45.6 meters away at (-39.8, 22.2). A unknown object with ID 10 is 45.8 meters away at (-40.6, 21.2). A unknown object with ID 7 is 46.7 meters away at (-43.5, 17.1). A unknown object with ID 8 is 47.3 meters away at (-44.4, 16.3). A unknown object with ID 35 is 51.5 meters away at (50.3, 10.9).

The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.13271356  0.09791515] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1066991  0.45509964] 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 6 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 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A pedestrian with ID 16 is 12.6 meters away at (4.4, 11.8). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.5). A vehicle with ID 9 is 26.5 meters away at (0.6, 26.5). A vehicle with ID 22 is 29.4 meters away at (-19.9, -21.7). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 24 is 32.1 meters away at (-2.8, -31.9). A pedestrian with ID 19 is 34.7 meters away at (-18.1, -29.6). A pedestrian with ID 25 is 35.0 meters away at (-18.9, -29.4).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00807458  0.01802574] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.1151806  -0.37203345] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01493614 0.00646173] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 9.952185  -3.1353934] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00228558 -0.00055433] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.4978155 1.2595153] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.54993695 1.269143  ] 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 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.0, 1.5). A pedestrian with ID 16 is 12.8 meters away at (6.2, 11.2). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 9 is 28.2 meters away at (19.3, 20.5). A vehicle with ID 22 is 29.4 meters away at (-19.9, -21.7). A vehicle with ID 1 is 30.8 meters away at (-8.9, 29.5). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 19 is 31.9 meters away at (-17.3, -26.9). A pedestrian with ID 24 is 32.1 meters away at (-2.8, -31.9).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.01405222 -0.00223324] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.83613473 -0.38029712] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.0017165  -0.00536204] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [ 9.291786  -2.9883757] m/s.The vehicle with ID 22 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 [ 9.468862  -2.9402444] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.498894  1.2995118] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00468064  0.00047838] 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 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A pedestrian with ID 16 is 13.2 meters away at (7.8, 10.6). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 1 is 25.6 meters away at (9.6, 23.7). A vehicle with ID 22 is 29.4 meters away at (-19.8, -21.7). A pedestrian with ID 19 is 29.4 meters away at (-16.6, -24.3). A pedestrian with ID 25 is 29.9 meters away at (-17.5, -24.3). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0). A pedestrian with ID 24 is 32.0 meters away at (-2.8, -31.9).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-0.00122971  0.00106524] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.6085696  -0.10012428] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.00017883 0.0008067 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.786982 -2.794118] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.24360275 1.2753408 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.23599467 1.2524694 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00242662 -0.00094459] 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 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A pedestrian with ID 13 is 8.2 meters away at (8.1, 1.5). A vehicle with ID 15 is 13.6 meters away at (-1.5, -13.5). A pedestrian with ID 16 is 13.8 meters away at (9.0, 10.5). A unknown object with ID 5 is 20.8 meters away at (13.7, 15.6). A pedestrian with ID 14 is 22.3 meters away at (-10.9, 19.4). A vehicle with ID 7 is 25.4 meters away at (3.8, 25.1). A pedestrian with ID 19 is 27.1 meters away at (-16.7, -21.4). A pedestrian with ID 25 is 27.8 meters away at (-17.3, -21.9). A vehicle with ID 22 is 29.4 meters away at (-19.8, -21.7). A vehicle with ID 23 is 31.8 meters away at (-15.0, -28.0).

The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1052909e-04  1.3484629e-05] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.689241   -0.21976845] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.00470391 -0.00209208] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 8.228488  -2.6184998] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.10243929  1.3299813 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.14036359 1.3202633 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 10.1) m/s. Its current heading (yaw) is 1.95 radians with an angular velocity of 1.95 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 9.8) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.0) m/s. Its current heading (yaw) is 1.97 radians with an angular velocity of 1.97 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.1) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

The most relevant actors are: A unknown object with ID 3 is 24.4 meters away at (-16.2, 18.3).

The unknown object with ID 3 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, -0.7) m/s. Its current heading (yaw) is -0.23 radians with an angular velocity of -0.23 rad/s.

The most relevant actors are: A unknown object with ID 12 is 20.7 meters away at (14.2, -15.1). A pedestrian with ID 19 is 22.0 meters away at (14.4, -16.6). A vehicle with ID 15 is 22.9 meters away at (-21.6, -7.5). A unknown object with ID 21 is 24.9 meters away at (16.3, -18.9). A unknown object with ID 26 is 28.7 meters away at (20.2, -20.5). A pedestrian with ID 11 is 28.9 meters away at (28.8, 2.3). A unknown object with ID 16 is 30.8 meters away at (22.2, -21.3). A pedestrian with ID 17 is 32.7 meters away at (23.8, -22.4). A unknown object with ID 22 is 37.3 meters away at (-25.0, 27.6). A unknown object with ID 25 is 38.2 meters away at (-24.4, 29.4).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0120942 0.0150074] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-0.10665412 -4.693124  ] 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 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00206541  0.01310496] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.9735122  -0.08299686] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -0.1) m/s. Its current heading (yaw) is -0.03 radians with an angular velocity of -0.03 rad/s.

The most relevant actors are: A unknown object with ID 12 is 16.7 meters away at (8.7, -14.2). A pedestrian with ID 19 is 18.1 meters away at (8.8, -15.8). A unknown object with ID 21 is 21.0 meters away at (10.8, -18.0). A pedestrian with ID 11 is 23.5 meters away at (23.3, 3.2). A unknown object with ID 26 is 24.5 meters away at (14.7, -19.7). A unknown object with ID 16 is 26.4 meters away at (16.7, -20.4). A pedestrian with ID 17 is 28.8 meters away at (18.6, -21.9). A unknown object with ID 1 is 31.6 meters away at (23.7, -21.0). A vehicle with ID 15 is 34.1 meters away at (-29.5, -17.2). A unknown object with ID 22 is 41.7 meters away at (-30.6, 28.4).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.00479589 0.00598701] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01182227 -0.00127124] 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 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.04093089 -0.17162839] m/s.The unknown object with ID 1 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 [-1.8198401 -5.5380774] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 0.3) m/s. Its current heading (yaw) is 0.15 radians with an angular velocity of 0.15 rad/s.

The most relevant actors are: A unknown object with ID 12 is 15.1 meters away at (4.0, -14.6). A pedestrian with ID 19 is 16.7 meters away at (4.1, -16.1). A pedestrian with ID 11 is 18.8 meters away at (18.6, 2.8). A unknown object with ID 21 is 19.3 meters away at (6.1, -18.3). A unknown object with ID 26 is 22.3 meters away at (10.0, -19.9). A unknown object with ID 16 is 23.9 meters away at (12.0, -20.7). A pedestrian with ID 17 is 26.2 meters away at (13.9, -22.3). A unknown object with ID 1 is 28.5 meters away at (19.0, -21.3). A vehicle with ID 32 is 41.2 meters away at (35.5, -20.8).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.00920103 0.00091599] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.01686552  0.00405292] 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 26 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 pedestrian with ID 17 is traveling at a (x, y) velocity of [0.01943466 0.01701145] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, 0.0) m/s. Its current heading (yaw) is 0.02 radians with an angular velocity of 0.02 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 14.5 meters away at (14.3, 2.4). A unknown object with ID 12 is 15.0 meters away at (-0.2, -15.0). A pedestrian with ID 19 is 16.6 meters away at (-0.1, -16.6). A unknown object with ID 21 is 18.8 meters away at (1.9, -18.7). A unknown object with ID 26 is 21.1 meters away at (5.8, -20.3). A unknown object with ID 16 is 22.5 meters away at (7.8, -21.1). A pedestrian with ID 17 is 24.5 meters away at (9.6, -22.5). A unknown object with ID 1 is 26.2 meters away at (14.8, -21.6). A vehicle with ID 32 is 37.8 meters away at (31.3, -21.2). A vehicle with ID 28 is 77.3 meters away at (68.2, -36.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.01796084 -0.00305445] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.02161074 -0.01134936] 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 26 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 pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.05557961 -0.12037819] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -10.9) m/s. Its current heading (yaw) is -1.64 radians with an angular velocity of -1.64 rad/s.

The most relevant actors are: A vehicle with ID 12 is 22.2 meters away at (7.2, 21.0). A vehicle with ID 13 is 25.6 meters away at (24.9, 5.8). A vehicle with ID 17 is 30.8 meters away at (-5.3, -30.3). A vehicle with ID 14 is 31.1 meters away at (30.6, 5.7). A vehicle with ID 15 is 36.1 meters away at (35.7, 5.4). A vehicle with ID 18 is 38.7 meters away at (38.6, 2.2). A pedestrian with ID 19 is 43.5 meters away at (6.5, -43.0). A vehicle with ID 16 is 43.9 meters away at (43.6, 5.2). A vehicle with ID 20 is 48.1 meters away at (-7.2, -47.5). A vehicle with ID 11 is 54.0 meters away at (-7.7, -53.4).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 [-7.6434183   0.22859976] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00254766  1.20363   ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.