The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -4.0) m/s. Its current heading (yaw) is -0.46 radians with an angular velocity of -0.46 rad/s.

The most relevant actors are: A pedestrian with ID 7 is 4.7 meters away at (-1.6, -4.4). A pedestrian with ID 11 is 28.3 meters away at (-20.2, -19.9). A unknown object with ID 17 is 39.2 meters away at (0.8, -39.2). A vehicle with ID 16 is 40.6 meters away at (28.5, -28.9). A vehicle with ID 24 is 44.9 meters away at (11.3, -43.5). A vehicle with ID 3 is 49.5 meters away at (49.1, -6.4). A cyclist with ID 5 is 57.7 meters away at (50.9, -27.2). A pedestrian with ID 4 is 61.6 meters away at (-9.7, -60.8).

The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2435304  0.5258691] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.4011836   0.05835568] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.056633 -4.270701] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [-6.981782 -7.584952] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 5 is traveling at a (x, y) velocity of [-3.664246   3.7609198] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.0809697 1.2044833] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.5, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A vehicle with ID 118 is 9.9 meters away at (-0.0, -9.9). A vehicle with ID 120 is 11.2 meters away at (-4.0, -10.4). A vehicle with ID 116 is 12.6 meters away at (7.0, -10.4). A pedestrian with ID 60 is 13.5 meters away at (-8.7, 10.4). A vehicle with ID 115 is 14.8 meters away at (10.9, -10.1). A vehicle with ID 113 is 17.3 meters away at (14.1, -10.0). A vehicle with ID 112 is 23.8 meters away at (21.1, -10.9). A unknown object with ID 65 is 25.8 meters away at (25.6, 2.7). A unknown object with ID 101 is 27.8 meters away at (27.6, 2.7). A vehicle with ID 114 is 27.9 meters away at (26.0, -10.1).

The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 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 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.2, 0.0) m/s. Its current heading (yaw) is 3.14 radians with an angular velocity of 3.14 rad/s.

The most relevant actors are: A pedestrian with ID 60 is 14.4 meters away at (9.9, 10.4). A vehicle with ID 120 is 18.0 meters away at (14.5, -10.6). A vehicle with ID 110 is 19.9 meters away at (-16.6, -11.0). A vehicle with ID 118 is 21.1 meters away at (18.6, -10.0). A unknown object with ID 89 is 23.1 meters away at (23.0, 2.8). A unknown object with ID 83 is 26.9 meters away at (26.8, 2.8). A vehicle with ID 116 is 27.7 meters away at (25.7, -10.4). A unknown object with ID 84 is 27.8 meters away at (27.7, 2.8). A unknown object with ID 37 is 28.9 meters away at (28.7, 2.8). A unknown object with ID 108 is 29.7 meters away at (29.6, 2.8).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.00250303  0.01922289] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 110 is 11.3 meters away at (1.3, -11.2). A vehicle with ID 111 is 20.7 meters away at (-16.5, -12.4). A vehicle with ID 43 is 23.8 meters away at (-20.2, -12.5). A unknown object with ID 61 is 24.3 meters away at (24.2, 2.8). A unknown object with ID 107 is 26.2 meters away at (26.0, 2.8). A vehicle with ID 23 is 26.3 meters away at (-23.4, -11.9). A unknown object with ID 46 is 28.2 meters away at (28.0, 2.7). A vehicle with ID 22 is 29.9 meters away at (-27.5, -11.6). A vehicle with ID 20 is 33.9 meters away at (-31.6, -12.2). A vehicle with ID 120 is 34.3 meters away at (32.5, -10.7).

The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 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 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 120 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, -0.0) m/s. Its current heading (yaw) is -3.14 radians with an angular velocity of -3.14 rad/s.

The most relevant actors are: A vehicle with ID 111 is 12.5 meters away at (1.0, -12.4). A vehicle with ID 43 is 12.8 meters away at (-2.8, -12.5). A vehicle with ID 23 is 13.3 meters away at (-6.0, -11.9). A vehicle with ID 22 is 15.4 meters away at (-10.0, -11.6). A vehicle with ID 20 is 18.7 meters away at (-14.1, -12.3). A unknown object with ID 55 is 19.6 meters away at (19.5, 2.8). A vehicle with ID 110 is 22.0 meters away at (18.9, -11.2). A vehicle with ID 99 is 25.1 meters away at (-22.0, -12.1). A vehicle with ID 103 is 26.3 meters away at (-24.9, 8.3). A vehicle with ID 19 is 27.8 meters away at (-25.2, -11.6).

The vehicle with ID 111 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, -3.5) m/s. Its current heading (yaw) is -0.92 radians with an angular velocity of -0.92 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.0) m/s. Its current heading (yaw) is -1.05 radians with an angular velocity of -1.05 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, -5.0) m/s. Its current heading (yaw) is -0.85 radians with an angular velocity of -0.85 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -5.4) m/s. Its current heading (yaw) is -0.79 radians with an angular velocity of -0.79 rad/s.

The most relevant actors are: A unknown object with ID 3 is 29.9 meters away at (11.9, -27.4). A unknown object with ID 1 is 40.2 meters away at (20.0, -34.9). A unknown object with ID 2 is 42.9 meters away at (-7.0, 42.3).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 7.0) 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 vehicle with ID 10 is 14.6 meters away at (1.8, -14.4). A vehicle with ID 11 is 21.4 meters away at (4.4, -20.9). A vehicle with ID 12 is 28.8 meters away at (7.2, -27.9). A vehicle with ID 16 is 65.4 meters away at (21.1, -61.9). A pedestrian with ID 17 is 70.9 meters away at (29.9, -64.3). A pedestrian with ID 18 is 71.6 meters away at (29.4, -65.3). A vehicle with ID 19 is 78.5 meters away at (27.4, -73.6). A vehicle with ID 20 is 80.1 meters away at (30.9, -73.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.02133672 -0.01715423] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.09593015 0.02130184] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-0.10322905  0.4713659 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.8) m/s. Its current heading (yaw) is 1.95 radians with an angular velocity of 1.95 rad/s.

The most relevant actors are: A vehicle with ID 10 is 30.3 meters away at (7.9, -29.2). A vehicle with ID 11 is 37.2 meters away at (10.4, -35.7). A vehicle with ID 12 is 44.7 meters away at (13.3, -42.7).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.9) m/s. Its current heading (yaw) is 1.94 radians with an angular velocity of 1.94 rad/s.

The most relevant actors are: A vehicle with ID 10 is 47.0 meters away at (14.3, -44.8).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 8.1) 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 vehicle with ID 10 is 64.2 meters away at (20.9, -60.7).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -7.8) m/s. Its current heading (yaw) is -1.78 radians with an angular velocity of -1.78 rad/s.

The most relevant actors are: A unknown object with ID 18 is 14.3 meters away at (-11.1, -9.0). A unknown object with ID 19 is 18.3 meters away at (-11.7, -14.0). A unknown object with ID 16 is 26.2 meters away at (-5.0, 25.7). A pedestrian with ID 17 is 28.9 meters away at (-9.9, 27.2). A pedestrian with ID 5 is 52.9 meters away at (-3.7, -52.8).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [-0.00333107  0.06638758] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.0207163  -0.00678513] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -5.2) m/s. Its current heading (yaw) is -1.70 radians with an angular velocity of -1.70 rad/s.

The most relevant actors are: A unknown object with ID 19 is 9.6 meters away at (-9.5, -1.0). A unknown object with ID 18 is 9.8 meters away at (-8.9, 4.0). A pedestrian with ID 5 is 39.7 meters away at (-1.4, -39.7).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.01610612 -0.05678621] 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, -3.5) m/s. Its current heading (yaw) is -1.70 radians with an angular velocity of -1.70 rad/s.

The most relevant actors are: A unknown object with ID 15 is 3.5 meters away at (3.0, -1.8). A unknown object with ID 19 is 11.1 meters away at (-8.4, 7.3). A unknown object with ID 18 is 14.6 meters away at (-7.8, 12.3). A pedestrian with ID 5 is 31.5 meters away at (-0.3, -31.5).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.0072541  0.002179 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -5.0) m/s. Its current heading (yaw) is -1.71 radians with an angular velocity of -1.71 rad/s.

The most relevant actors are: A unknown object with ID 7 is 12.1 meters away at (-4.3, 11.3). A unknown object with ID 19 is 17.2 meters away at (-7.3, 15.5). A unknown object with ID 18 is 21.6 meters away at (-6.7, 20.6). A pedestrian with ID 5 is 23.2 meters away at (0.8, -23.2). A unknown object with ID 9 is 37.8 meters away at (-1.6, 37.8).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.01437    0.01580773] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.3, 4.2) m/s. Its current heading (yaw) is 2.67 radians with an angular velocity of 2.67 rad/s.

The most relevant actors are: A unknown object with ID 74 is 18.0 meters away at (0.7, 18.0). A unknown object with ID 75 is 20.8 meters away at (-4.6, 20.3). A unknown object with ID 78 is 21.2 meters away at (-6.2, 20.3). A unknown object with ID 51 is 22.1 meters away at (-3.9, 21.8). A pedestrian with ID 73 is 22.7 meters away at (14.1, 17.8). A unknown object with ID 79 is 23.2 meters away at (-5.5, 22.5). A pedestrian with ID 72 is 28.7 meters away at (26.4, 11.2). A unknown object with ID 69 is 33.7 meters away at (26.0, -21.5). A unknown object with ID 70 is 35.0 meters away at (27.8, -21.4). A pedestrian with ID 86 is 41.5 meters away at (-40.0, 10.9).

The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-2.8404374  1.0518984] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [-1.3475562   0.53590214] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.01563646  0.00986694] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.7, 3.9) m/s. Its current heading (yaw) is 2.72 radians with an angular velocity of 2.72 rad/s.

The most relevant actors are: A unknown object with ID 63 is 9.2 meters away at (-8.9, -2.1). A unknown object with ID 33 is 14.2 meters away at (-14.2, -0.8). A unknown object with ID 60 is 15.0 meters away at (8.9, 12.0). A unknown object with ID 78 is 16.0 meters away at (10.7, 11.9). A unknown object with ID 38 is 16.9 meters away at (9.3, 14.1). A unknown object with ID 75 is 17.2 meters away at (12.3, 12.0). A unknown object with ID 79 is 18.2 meters away at (11.5, 14.2). A unknown object with ID 51 is 18.8 meters away at (13.0, 13.5). A unknown object with ID 74 is 20.1 meters away at (17.6, 9.7). A pedestrian with ID 86 is 23.2 meters away at (-23.0, 2.5).

The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.0383932  -0.00932256] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A pedestrian with ID 86 is 7.9 meters away at (-5.9, -5.2). A pedestrian with ID 88 is 8.7 meters away at (-8.1, -3.2). A unknown object with ID 33 is 9.0 meters away at (3.0, -8.5). A unknown object with ID 63 is 12.8 meters away at (8.2, -9.8). A pedestrian with ID 24 is 37.3 meters away at (-36.2, 8.8). A pedestrian with ID 47 is 51.0 meters away at (-34.9, 37.2). A unknown object with ID 6 is 71.1 meters away at (-67.6, 22.3). A unknown object with ID 34 is 71.3 meters away at (-68.4, 20.1). A unknown object with ID 37 is 72.6 meters away at (-68.5, 24.0). A unknown object with ID 1 is 74.8 meters away at (-71.0, 23.7).

The pedestrian with ID 86 is traveling at a (x, y) velocity of [-0.01811565 -0.00458645] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 0.02519529 -0.02950484] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.4726408 0.8132551] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 1.1069535  -0.49810678] 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 (-8.9, 4.0) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A pedestrian with ID 88 is 14.6 meters away at (9.5, -11.1). A pedestrian with ID 86 is 17.7 meters away at (11.9, -13.1). A pedestrian with ID 24 is 18.1 meters away at (-18.0, 1.3). A pedestrian with ID 40 is 23.1 meters away at (-2.4, 23.0). A pedestrian with ID 39 is 23.9 meters away at (-2.5, 23.8). A unknown object with ID 33 is 26.4 meters away at (20.8, -16.4). A unknown object with ID 63 is 31.5 meters away at (26.0, -17.7). A pedestrian with ID 47 is 35.1 meters away at (-16.8, 30.8). A unknown object with ID 67 is 35.2 meters away at (-22.2, 27.3). A pedestrian with ID 49 is 41.3 meters away at (-14.0, 38.8).

The pedestrian with ID 88 is traveling at a (x, y) velocity of [-0.05814135 -0.03253426] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.00336276 -0.00821162] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00728476  0.00376133] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.045424    0.41432315] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.95360345  0.3161534 ] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [0.5770743  0.69495654] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.78563213 0.29592505] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A vehicle with ID 86 is 8.8 meters away at (8.4, -2.6). A vehicle with ID 84 is 14.2 meters away at (12.8, -6.3). A vehicle with ID 87 is 20.1 meters away at (17.4, -10.0). A unknown object with ID 33 is 24.3 meters away at (-17.0, 17.3). A unknown object with ID 94 is 24.5 meters away at (-16.1, 18.5). A vehicle with ID 89 is 26.5 meters away at (22.3, -14.2). A vehicle with ID 90 is 33.6 meters away at (27.9, -18.7). A vehicle with ID 65 is 35.7 meters away at (-33.3, -12.7). A vehicle with ID 92 is 40.0 meters away at (18.7, -35.4). A vehicle with ID 91 is 40.0 meters away at (32.7, -23.0).

The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 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 [ 0.6424889  -0.39212376] m/s.The vehicle with ID 92 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 3.7) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 33 is 11.9 meters away at (-7.5, 9.3). A unknown object with ID 94 is 12.4 meters away at (-6.6, 10.5). A unknown object with ID 47 is 14.7 meters away at (-7.7, 12.5). A vehicle with ID 86 is 20.8 meters away at (17.9, -10.5). A vehicle with ID 84 is 26.5 meters away at (22.3, -14.3). A unknown object with ID 46 is 29.2 meters away at (-15.2, 25.0). A vehicle with ID 65 is 31.4 meters away at (-23.5, -20.9). A vehicle with ID 87 is 32.5 meters away at (27.0, -18.0). A pedestrian with ID 85 is 37.9 meters away at (-31.3, 21.3). A vehicle with ID 89 is 38.9 meters away at (31.9, -22.2).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0513936  -0.82123935] m/s.The vehicle with ID 89 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, 2.3) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 33 is 3.5 meters away at (-0.4, 3.5). A unknown object with ID 94 is 4.7 meters away at (0.5, 4.6). A unknown object with ID 47 is 6.5 meters away at (-0.7, 6.5). A unknown object with ID 46 is 20.7 meters away at (-8.0, 19.1). A pedestrian with ID 85 is 29.5 meters away at (-26.2, 13.4). A vehicle with ID 86 is 30.0 meters away at (25.1, -16.5). A unknown object with ID 83 is 31.0 meters away at (-21.2, 22.6). A vehicle with ID 65 is 31.4 meters away at (-16.3, -26.9). A vehicle with ID 26 is 33.0 meters away at (-33.0, 0.7). A pedestrian with ID 38 is 33.5 meters away at (-11.2, -31.6).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.0177233 -1.0035394] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.41230926 1.0738587 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 0.6) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 33 is 3.1 meters away at (3.0, 0.7). A unknown object with ID 94 is 4.4 meters away at (3.9, 1.8). A unknown object with ID 83 is 26.7 meters away at (-17.8, 19.8). A pedestrian with ID 85 is 26.7 meters away at (-25.2, 8.7). A vehicle with ID 26 is 29.7 meters away at (-29.6, -2.2). A unknown object with ID 77 is 30.6 meters away at (-28.2, 11.9). A unknown object with ID 57 is 30.6 meters away at (-20.9, 22.4). A vehicle with ID 65 is 32.4 meters away at (-12.9, -29.7). A pedestrian with ID 38 is 32.9 meters away at (-6.7, -32.2). A pedestrian with ID 69 is 33.2 meters away at (-5.9, -32.7).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-1.1248761  -0.97551125] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [0.61955786 1.0361187 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.66436666 1.065438  ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.9) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 48 is 6.8 meters away at (-1.4, 6.6). A vehicle with ID 46 is 11.1 meters away at (-8.5, 7.1). A vehicle with ID 53 is 12.5 meters away at (-6.1, 10.9). A vehicle with ID 56 is 19.7 meters away at (-15.1, 12.7). A vehicle with ID 63 is 21.8 meters away at (-18.4, -11.8). A vehicle with ID 65 is 24.4 meters away at (-19.9, -14.2). A vehicle with ID 62 is 27.2 meters away at (-21.9, -16.1). A vehicle with ID 77 is 28.1 meters away at (-11.1, -25.8). A vehicle with ID 51 is 29.0 meters away at (22.0, -18.9). A vehicle with ID 55 is 29.8 meters away at (25.1, -16.0).

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 [-0.3833402   0.30189338] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [-0.67946434  0.57782847] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-4.3761716  3.7789152] m/s.The vehicle with ID 55 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 (-0.3, 0.3) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A vehicle with ID 48 is 5.9 meters away at (-0.5, 5.8). A vehicle with ID 46 is 10.8 meters away at (-8.3, 6.9). A vehicle with ID 53 is 11.3 meters away at (-5.2, 10.1). A vehicle with ID 51 is 20.9 meters away at (15.9, -13.7). A vehicle with ID 63 is 21.5 meters away at (-17.4, -12.7). A vehicle with ID 56 is 22.7 meters away at (-17.4, 14.6). A vehicle with ID 65 is 24.3 meters away at (-19.1, -14.9). A vehicle with ID 62 is 27.0 meters away at (-21.1, -16.9). A vehicle with ID 77 is 28.6 meters away at (-10.1, -26.7). A vehicle with ID 55 is 31.0 meters away at (26.1, -16.8).

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 [-0.3526485   0.32230097] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.3286302  1.9570441] m/s.The vehicle with ID 63 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 [-2.9654164  2.380851 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 1.1) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 48 is 4.6 meters away at (1.1, 4.5). A vehicle with ID 53 is 9.5 meters away at (-3.7, 8.8). A vehicle with ID 46 is 11.8 meters away at (-9.0, 7.6). A vehicle with ID 51 is 18.5 meters away at (14.1, -12.1). A vehicle with ID 63 is 21.2 meters away at (-16.0, -13.9). A vehicle with ID 65 is 23.9 meters away at (-17.5, -16.3). A vehicle with ID 62 is 26.8 meters away at (-19.7, -18.1). A vehicle with ID 28 is 28.9 meters away at (-27.1, 10.1). A vehicle with ID 77 is 29.3 meters away at (-8.7, -28.0). A vehicle with ID 56 is 31.9 meters away at (-24.6, 20.3).

The vehicle with ID 48 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 46 is traveling at a (x, y) velocity of [-2.107111   1.9422512] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.3050095  1.1122211] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 [ 9.399703 -8.074002] m/s.The vehicle with ID 77 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 [-4.568516   3.6993039] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.4) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 48 is 5.2 meters away at (5.1, 1.1). A vehicle with ID 53 is 5.3 meters away at (0.3, 5.3). A vehicle with ID 36 is 7.0 meters away at (-1.3, -6.9). A vehicle with ID 28 is 10.2 meters away at (-4.4, -9.2). A vehicle with ID 46 is 15.6 meters away at (-11.9, 10.1). A vehicle with ID 51 is 20.6 meters away at (15.6, -13.5). A vehicle with ID 63 is 21.1 meters away at (-11.9, -17.4). A vehicle with ID 65 is 23.9 meters away at (-13.6, -19.7). A vehicle with ID 1 is 24.0 meters away at (-5.3, 23.4). A vehicle with ID 5 is 29.5 meters away at (-12.5, 26.7).

The vehicle with ID 48 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 36 is traveling at a (x, y) velocity of [11.577806 -9.907532] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.310005  -7.9446425] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.424352  3.859639] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-1.333223   1.1517456] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.3203094 -1.8641847] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -1.1) 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 unknown object with ID 40 is 4.7 meters away at (-2.9, -3.7). A vehicle with ID 42 is 10.7 meters away at (-3.3, -10.2). A unknown object with ID 24 is 11.5 meters away at (8.6, 7.6). A unknown object with ID 53 is 18.4 meters away at (-9.6, -15.7). A cyclist with ID 64 is 18.8 meters away at (3.1, 18.6). A unknown object with ID 55 is 19.1 meters away at (-9.8, -16.4). A unknown object with ID 43 is 20.3 meters away at (-9.9, -17.7). A unknown object with ID 44 is 20.7 meters away at (-10.3, -17.9). A vehicle with ID 46 is 24.2 meters away at (3.1, -24.0). A pedestrian with ID 69 is 24.8 meters away at (4.0, 24.4).

The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.505846  1.3612853] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.17756057 1.2593203 ] 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 -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 42 is 10.0 meters away at (-3.1, -9.5). A unknown object with ID 43 is 19.7 meters away at (-9.9, -17.1). A pedestrian with ID 33 is 19.9 meters away at (4.3, 19.5). A unknown object with ID 44 is 20.1 meters away at (-10.2, -17.3). A cyclist with ID 64 is 22.6 meters away at (4.5, 22.1). A vehicle with ID 46 is 23.7 meters away at (3.3, -23.4). A pedestrian with ID 69 is 28.4 meters away at (4.9, 28.0). A pedestrian with ID 70 is 28.6 meters away at (5.5, 28.1). A vehicle with ID 50 is 33.4 meters away at (-2.6, -33.3). A vehicle with ID 52 is 34.3 meters away at (2.3, -34.2).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00504623  0.07277264] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.5851159 1.8245198] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.31214136 1.3630385 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.54277855 1.5188822 ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 42 is 10.0 meters away at (-3.1, -9.5). A unknown object with ID 43 is 19.6 meters away at (-9.8, -17.0). A unknown object with ID 44 is 20.0 meters away at (-10.1, -17.2). A vehicle with ID 46 is 23.6 meters away at (3.4, -23.4). A cyclist with ID 64 is 26.6 meters away at (6.0, 26.0). A pedestrian with ID 70 is 31.8 meters away at (6.7, 31.1). A pedestrian with ID 69 is 31.9 meters away at (6.4, 31.2). A vehicle with ID 50 is 33.3 meters away at (-2.6, -33.2). A vehicle with ID 52 is 34.2 meters away at (2.3, -34.1). A vehicle with ID 54 is 35.3 meters away at (5.6, -34.8).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 cyclist with ID 64 is traveling at a (x, y) velocity of [0.72053653 1.9646429 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [0.61574274 1.3691597 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.5860239 1.45635  ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.1) 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 9.8 meters away at (-3.0, -9.4). A unknown object with ID 43 is 19.5 meters away at (-9.8, -16.8). A unknown object with ID 44 is 19.9 meters away at (-10.1, -17.2). A vehicle with ID 46 is 23.5 meters away at (3.3, -23.2). A unknown object with ID 1 is 25.9 meters away at (-11.9, -23.1). A vehicle with ID 6 is 29.4 meters away at (-18.5, -22.8). A cyclist with ID 64 is 30.9 meters away at (7.1, 30.0). A vehicle with ID 50 is 33.2 meters away at (-2.6, -33.1). A vehicle with ID 52 is 34.0 meters away at (2.2, -34.0). A pedestrian with ID 69 is 34.8 meters away at (8.5, 33.7).

The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 unknown object with ID 1 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 cyclist with ID 64 is traveling at a (x, y) velocity of [0.4448119 2.1850505] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [0.5790717 1.4694313] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 0.0) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A unknown object with ID 5 is 14.3 meters away at (-7.9, -11.9). A unknown object with ID 37 is 14.7 meters away at (-9.9, -10.9). A unknown object with ID 38 is 15.5 meters away at (-11.6, -10.3). A unknown object with ID 43 is 17.0 meters away at (-14.0, -9.5). A unknown object with ID 39 is 17.0 meters away at (-11.6, -12.4). A unknown object with ID 52 is 18.5 meters away at (-16.3, -8.9). A unknown object with ID 40 is 18.8 meters away at (-12.2, -14.3). A unknown object with ID 42 is 20.7 meters away at (-13.7, -15.5). A unknown object with ID 44 is 21.4 meters away at (-15.5, -14.8). A unknown object with ID 57 is 21.4 meters away at (-16.9, -13.2).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 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 (2.6, -1.2) m/s. Its current heading (yaw) is -0.41 radians with an angular velocity of -0.41 rad/s.

The most relevant actors are: A unknown object with ID 5 is 18.1 meters away at (-14.1, -11.3). A unknown object with ID 37 is 19.2 meters away at (-16.2, -10.3). A unknown object with ID 38 is 20.4 meters away at (-17.8, -9.8). A unknown object with ID 39 is 21.4 meters away at (-17.9, -11.8). A unknown object with ID 43 is 22.2 meters away at (-20.3, -9.0). A unknown object with ID 40 is 22.9 meters away at (-18.4, -13.7). A unknown object with ID 13 is 23.0 meters away at (-18.5, -13.8). A unknown object with ID 52 is 24.0 meters away at (-22.5, -8.3). A unknown object with ID 42 is 24.9 meters away at (-19.9, -15.0). A unknown object with ID 44 is 25.9 meters away at (-21.7, -14.2).

The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -3.4) m/s. Its current heading (yaw) is -1.26 radians with an angular velocity of -1.26 rad/s.

The most relevant actors are: A pedestrian with ID 31 is 15.1 meters away at (9.0, -12.1). A unknown object with ID 5 is 19.6 meters away at (-18.3, -6.8). A unknown object with ID 37 is 21.2 meters away at (-20.3, -5.9). A unknown object with ID 38 is 22.7 meters away at (-22.0, -5.3). A unknown object with ID 39 is 23.2 meters away at (-22.0, -7.3). A unknown object with ID 40 is 24.4 meters away at (-22.6, -9.1). A unknown object with ID 43 is 24.9 meters away at (-24.5, -4.5). A unknown object with ID 42 is 26.3 meters away at (-24.1, -10.5). A unknown object with ID 52 is 27.0 meters away at (-26.7, -3.8). A unknown object with ID 44 is 27.6 meters away at (-25.9, -9.7).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.23805259  0.06918532] 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, -4.4) 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 pedestrian with ID 31 is 10.3 meters away at (9.4, -4.1). A unknown object with ID 5 is 18.0 meters away at (-18.0, 1.2). A unknown object with ID 37 is 20.1 meters away at (-20.0, 2.1). A unknown object with ID 39 is 21.7 meters away at (-21.7, 0.7). A unknown object with ID 38 is 21.9 meters away at (-21.7, 2.8). A unknown object with ID 40 is 22.3 meters away at (-22.3, -1.1). A unknown object with ID 42 is 24.0 meters away at (-23.9, -2.4). A unknown object with ID 43 is 24.4 meters away at (-24.1, 3.5). A unknown object with ID 44 is 25.8 meters away at (-25.7, -1.5). A unknown object with ID 52 is 26.7 meters away at (-26.3, 4.2).

The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.0331758 -0.0199202] 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (-4.2, 9.8) 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 vehicle with ID 5 is 50.6 meters away at (13.5, -48.8).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 10.3) 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 vehicle with ID 5 is 72.3 meters away at (21.9, -68.9).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 10.3) 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 (-4.3, 10.2) 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 (-7.0, -7.6) m/s. Its current heading (yaw) is -2.31 radians with an angular velocity of -2.31 rad/s.

The most relevant actors are: A vehicle with ID 47 is 21.3 meters away at (-9.4, 19.1). A unknown object with ID 25 is 42.1 meters away at (-10.5, -40.8). A vehicle with ID 14 is 42.5 meters away at (27.7, 32.2). A vehicle with ID 16 is 45.6 meters away at (32.9, 31.6). A cyclist with ID 49 is 47.7 meters away at (-47.1, -7.4). A pedestrian with ID 35 is 49.4 meters away at (4.2, 49.2). A pedestrian with ID 18 is 52.2 meters away at (7.7, 51.6). A pedestrian with ID 36 is 53.8 meters away at (9.4, 52.9). A unknown object with ID 37 is 56.1 meters away at (14.7, 54.2). A vehicle with ID 27 is 56.8 meters away at (-56.0, -9.7).

The vehicle with ID 47 is traveling at a (x, y) velocity of [12.281138 12.25861 ] m/s.The unknown object with ID 25 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 [-10.700722  -9.045017] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-8.469154  -6.9729795] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [ 1.9163182  -0.80503124] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.03376731 0.03472649] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.04914441 0.00865705] m/s.The unknown object with ID 37 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 [ 1.4359195  -0.34103838] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -8.1) m/s. Its current heading (yaw) is -2.23 radians with an angular velocity of -2.23 rad/s.

The most relevant actors are: A unknown object with ID 25 is 24.5 meters away at (3.2, -24.3). A cyclist with ID 49 is 32.7 meters away at (-32.2, 5.4). A vehicle with ID 14 is 37.0 meters away at (21.6, 30.0). A vehicle with ID 27 is 41.8 meters away at (-41.3, 6.4). A vehicle with ID 33 is 42.6 meters away at (30.5, -29.7). A vehicle with ID 16 is 45.4 meters away at (30.6, 33.6). A vehicle with ID 17 is 54.0 meters away at (34.5, 41.5). A vehicle with ID 47 is 66.9 meters away at (30.8, 59.4). A pedestrian with ID 35 is 68.1 meters away at (18.2, 65.7). A pedestrian with ID 23 is 68.6 meters away at (19.0, 65.9).

The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-0.3085807 -2.0833569] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-9.536868 -9.587006] m/s.The vehicle with ID 27 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 [-8.815752  4.616271] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-7.8819704 -7.4598103] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-10.79178  -9.65736] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [13.860029 11.724332] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.00779683 -0.00199133] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01289205 -0.01699543] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -9.0) m/s. Its current heading (yaw) is -2.17 radians with an angular velocity of -2.17 rad/s.

The most relevant actors are: A unknown object with ID 25 is 17.6 meters away at (16.2, -6.7). A vehicle with ID 33 is 28.4 meters away at (28.0, -4.2). A cyclist with ID 49 is 29.4 meters away at (-22.5, 18.9). A vehicle with ID 14 is 32.4 meters away at (16.4, 27.9). A vehicle with ID 27 is 37.0 meters away at (-28.3, 23.9). A vehicle with ID 16 is 45.6 meters away at (28.2, 35.9). A vehicle with ID 17 is 47.6 meters away at (26.8, 39.4). A vehicle with ID 29 is 53.6 meters away at (-45.3, -28.7).

The unknown object with ID 25 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 [-6.146959   3.0774724] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.9013271 -1.8904314] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -8.791316 -10.194951] m/s.The vehicle with ID 27 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 [-7.4090242 -8.0186405] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -9.940906 -10.364404] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 5.703957 12.000455] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -9.9) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 29 is 25.0 meters away at (-21.1, 13.4). A vehicle with ID 14 is 28.3 meters away at (11.9, 25.7). A unknown object with ID 25 is 30.6 meters away at (28.2, 12.0). A vehicle with ID 33 is 36.4 meters away at (31.0, 19.1). A cyclist with ID 49 is 37.0 meters away at (-14.5, 34.1). A vehicle with ID 17 is 42.1 meters away at (20.1, 36.9). A vehicle with ID 30 is 45.5 meters away at (-36.2, -27.6). A vehicle with ID 16 is 45.7 meters away at (25.7, 37.8). A vehicle with ID 27 is 45.7 meters away at (-16.4, 42.7). A vehicle with ID 21 is 48.4 meters away at (-41.0, -25.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [ 6.5100465 11.340726 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -7.6511526 -10.987719 ] m/s.The unknown object with ID 25 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 [-2.9627328  1.5343702] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-1.8087065 -1.7306422] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ -8.607322 -11.121683] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ 6.2809353 15.389164 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.948846  -8.9005575] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [ 4.2674584 12.127826 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -6.4) 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 unknown object with ID 12 is 15.5 meters away at (14.6, 5.2). A unknown object with ID 11 is 20.5 meters away at (13.8, 15.2). A unknown object with ID 3 is 45.6 meters away at (14.8, 43.1).

The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 (-4.6, -6.6) m/s. Its current heading (yaw) is -2.18 radians with an angular velocity of -2.18 rad/s.

The most relevant actors are: A unknown object with ID 11 is 36.0 meters away at (22.8, 27.9).

The unknown object with ID 11 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, -7.8) m/s. Its current heading (yaw) is -2.02 radians with an angular velocity of -2.02 rad/s.

The most relevant actors are: A unknown object with ID 11 is 52.5 meters away at (31.5, 41.9). A vehicle with ID 1 is 64.1 meters away at (-15.2, -62.3). A unknown object with ID 8 is 71.5 meters away at (-18.5, -69.1).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 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 (-3.2, -8.5) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A unknown object with ID 2 is 33.2 meters away at (-6.5, -32.6). A unknown object with ID 10 is 33.3 meters away at (-6.8, -32.6). A vehicle with ID 1 is 47.0 meters away at (-8.4, -46.3). A unknown object with ID 8 is 54.4 meters away at (-11.5, -53.1).

The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.8) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A unknown object with ID 35 is 10.0 meters away at (0.9, -10.0). A unknown object with ID 18 is 16.2 meters away at (0.4, 16.2). A unknown object with ID 19 is 19.5 meters away at (-1.5, 19.5). A vehicle with ID 37 is 27.0 meters away at (-26.7, -3.7). A unknown object with ID 41 is 28.1 meters away at (-13.4, 24.7). A vehicle with ID 43 is 52.1 meters away at (-46.7, -23.0). A vehicle with ID 46 is 52.1 meters away at (-39.6, 33.9). A cyclist with ID 36 is 56.7 meters away at (43.9, -35.9). A vehicle with ID 45 is 57.1 meters away at (-50.2, -27.3). A vehicle with ID 49 is 57.4 meters away at (-44.2, 36.6).

The unknown object with ID 35 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 19 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 [-2.3641899 -2.8132799] m/s.The unknown object with ID 41 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-6.3555055  5.391521 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 4.3) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A unknown object with ID 35 is 21.1 meters away at (10.7, -18.1). A vehicle with ID 37 is 25.7 meters away at (-20.2, -15.9). A vehicle with ID 46 is 39.2 meters away at (-29.6, 25.8). A vehicle with ID 49 is 44.5 meters away at (-34.2, 28.5). A vehicle with ID 43 is 48.3 meters away at (-36.8, -31.2). A pedestrian with ID 47 is 48.8 meters away at (-45.3, -18.4). A cyclist with ID 36 is 53.5 meters away at (41.6, -33.6). A vehicle with ID 45 is 53.7 meters away at (-40.5, -35.4). A vehicle with ID 44 is 56.3 meters away at (-34.7, -44.3). A vehicle with ID 48 is 59.8 meters away at (-44.2, -40.3).

The unknown object with ID 35 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 [-1.4436854 -1.7655381] 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.95488685 -0.7453081 ] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.8039865  5.0775895] m/s.The vehicle with ID 45 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 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 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 unknown object with ID 22 is 21.7 meters away at (21.7, -1.0). A vehicle with ID 46 is 24.7 meters away at (-18.1, 16.8). A vehicle with ID 49 is 30.0 meters away at (-22.7, 19.6). A vehicle with ID 37 is 32.3 meters away at (-12.6, -29.7). A unknown object with ID 35 is 35.1 meters away at (22.2, -27.2). A pedestrian with ID 47 is 43.0 meters away at (-31.9, -28.8). A pedestrian with ID 32 is 43.8 meters away at (10.9, -42.5). A vehicle with ID 43 is 47.5 meters away at (-25.4, -40.1). A vehicle with ID 45 is 52.9 meters away at (-29.0, -44.2). A cyclist with ID 36 is 53.2 meters away at (41.7, -33.1).

The unknown object with ID 22 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 37 is traveling at a (x, y) velocity of [-2.5988867 -3.1452856] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.8718467  -0.60778755] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00791269  0.01079345] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.524303  4.490788] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 5.0) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A unknown object with ID 13 is 6.9 meters away at (6.8, -0.8). A vehicle with ID 46 is 8.4 meters away at (-4.3, 7.2). A vehicle with ID 49 is 13.3 meters away at (-8.8, 9.9). A unknown object with ID 22 is 37.2 meters away at (35.6, -10.8). A pedestrian with ID 47 is 43.0 meters away at (-16.5, -39.7). A vehicle with ID 37 is 48.1 meters away at (-5.6, -47.8). A vehicle with ID 43 is 51.1 meters away at (-11.6, -49.8). A vehicle with ID 45 is 55.9 meters away at (-15.3, -53.8). A cyclist with ID 36 is 56.4 meters away at (45.0, -33.9). A vehicle with ID 5 is 61.5 meters away at (-60.2, -12.3).

The unknown object with ID 13 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 unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [ 0.74999356 -0.3006916 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-3.8915198 -4.6525517] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 36 is traveling at a (x, y) velocity of [-5.141948   4.3769884] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.7) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 3 is 8.6 meters away at (4.0, 7.6). A vehicle with ID 7 is 10.6 meters away at (-5.8, -8.8). A vehicle with ID 11 is 16.7 meters away at (8.0, 14.7). A vehicle with ID 41 is 18.7 meters away at (-6.0, -17.7). A vehicle with ID 27 is 23.2 meters away at (-12.5, -19.5). A vehicle with ID 8 is 25.9 meters away at (13.2, 22.3). A vehicle with ID 40 is 38.9 meters away at (-20.6, -33.0). A pedestrian with ID 33 is 44.3 meters away at (-10.8, -42.9). A pedestrian with ID 34 is 45.0 meters away at (-11.9, -43.4). A pedestrian with ID 35 is 45.0 meters away at (-10.6, -43.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.915734  -1.5420269] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 6.882084 11.585086] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.8115257 -2.9976215] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.720919  -4.5277877] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.5447417 -1.0274122] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.5191226 -0.9989357] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53687084 -0.98883265] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -2.6) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 7 is 11.9 meters away at (-6.5, -9.9). A vehicle with ID 3 is 12.5 meters away at (6.0, 10.9). A vehicle with ID 41 is 15.8 meters away at (11.1, 11.2). A vehicle with ID 11 is 21.0 meters away at (10.2, 18.4). A vehicle with ID 24 is 26.3 meters away at (-9.7, -24.5). A vehicle with ID 27 is 27.2 meters away at (-14.7, -22.9). A vehicle with ID 8 is 30.2 meters away at (15.4, 26.0). A pedestrian with ID 15 is 39.4 meters away at (15.2, 36.3). A pedestrian with ID 33 is 42.3 meters away at (-9.9, -41.1). A pedestrian with ID 34 is 42.9 meters away at (-10.9, -41.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.941868  -3.1414652] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.59429187 -0.99486154] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 7.9302344 13.412768 ] m/s.The vehicle with ID 11 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 [5.519653 9.2748  ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-2.471726  -3.9284084] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.63704574 -0.88127   ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.74147767 -1.0164711 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7257839 -1.018317 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -4.0) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A vehicle with ID 24 is 7.4 meters away at (6.8, 3.0). A vehicle with ID 7 is 12.8 meters away at (-7.0, -10.7). A vehicle with ID 3 is 14.5 meters away at (7.1, 12.6). A vehicle with ID 14 is 19.1 meters away at (-6.2, -18.0). A vehicle with ID 27 is 27.8 meters away at (-15.0, -23.4). A vehicle with ID 11 is 27.9 meters away at (13.8, 24.3). A pedestrian with ID 33 is 37.2 meters away at (-7.3, -36.5). A pedestrian with ID 34 is 37.6 meters away at (-8.3, -36.7). A vehicle with ID 8 is 38.0 meters away at (19.4, 32.6). A pedestrian with ID 35 is 38.0 meters away at (-6.8, -37.3).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.811924 11.418682] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-2.2486324 -3.6665156] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.258758  -3.7019598] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [5.5609007 9.204155 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.5324919 -2.6306827] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-0.7803176 -1.3227892] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.7364658 -1.1422803] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7622991 -1.0981568] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.6528545 -1.1816012] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.4) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 7 is 10.7 meters away at (-6.0, -8.8). A vehicle with ID 3 is 13.5 meters away at (6.4, 11.9). A vehicle with ID 14 is 14.9 meters away at (10.7, 10.3). A vehicle with ID 27 is 23.7 meters away at (-12.9, -19.8). A vehicle with ID 11 is 31.3 meters away at (15.4, 27.3). A pedestrian with ID 33 is 31.4 meters away at (-4.2, -31.1). A pedestrian with ID 34 is 31.7 meters away at (-5.3, -31.3). A pedestrian with ID 35 is 32.2 meters away at (-3.7, -32.0). A vehicle with ID 40 is 34.7 meters away at (-17.7, -29.9). A vehicle with ID 24 is 42.8 meters away at (25.4, 34.5).

The vehicle with ID 7 is traveling at a (x, y) velocity of [-1.344721 -2.349864] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.7171633 -4.272463 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.5281286 10.795817 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-1.1971356 -2.1573243] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.99185   -3.3724775] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.6830367 -1.190156 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.7226062 -1.1871867] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.69632936 -1.1526217 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-2.0545442 -3.8909748] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 7.155068 12.277927] m/s.

Instruction: Slight right turn approaching.


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

The most relevant actors are: A pedestrian with ID 54 is 9.7 meters away at (2.6, 9.3). A vehicle with ID 47 is 14.2 meters away at (-0.6, -14.2). A vehicle with ID 60 is 15.8 meters away at (10.7, -11.7). A vehicle with ID 67 is 18.0 meters away at (-14.6, 10.6). A vehicle with ID 46 is 19.2 meters away at (-4.3, -18.7). A pedestrian with ID 43 is 23.4 meters away at (17.2, -15.9). A vehicle with ID 50 is 24.5 meters away at (4.3, -24.1). A vehicle with ID 17 is 25.2 meters away at (22.1, -12.1). A vehicle with ID 45 is 25.4 meters away at (-8.5, -24.0). A vehicle with ID 18 is 30.7 meters away at (-12.1, -28.2).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01313238  0.00292959] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [2.8126354 3.7376304] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 3.6284158 -2.3929949] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.03749175 -0.02484025] m/s.The vehicle with ID 50 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -1.2) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A pedestrian with ID 54 is 10.3 meters away at (1.5, 10.1). A vehicle with ID 67 is 12.5 meters away at (-9.9, 7.5). A vehicle with ID 47 is 13.6 meters away at (-1.6, -13.5). A vehicle with ID 60 is 17.4 meters away at (17.4, -0.9). A vehicle with ID 46 is 18.8 meters away at (-5.4, -18.0). A vehicle with ID 50 is 23.6 meters away at (3.3, -23.4). A vehicle with ID 17 is 23.9 meters away at (21.1, -11.3). A vehicle with ID 45 is 25.1 meters away at (-9.5, -23.2). A vehicle with ID 18 is 30.5 meters away at (-13.0, -27.5). A vehicle with ID 49 is 33.7 meters away at (-4.9, -33.3).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.0125488   0.00543913] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.9983352 -1.489873 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [4.218131  5.2826757] m/s.The vehicle with ID 46 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.4, -3.7) m/s. Its current heading (yaw) is -1.20 radians with an angular velocity of -1.20 rad/s.

The most relevant actors are: A vehicle with ID 47 is 10.3 meters away at (-5.5, -8.7). A vehicle with ID 67 is 14.7 meters away at (-10.8, 10.0). A pedestrian with ID 54 is 15.3 meters away at (-2.6, 15.0). A vehicle with ID 46 is 16.1 meters away at (-9.2, -13.2). A vehicle with ID 17 is 17.4 meters away at (16.4, -5.9). A vehicle with ID 50 is 18.6 meters away at (-0.5, -18.6). A vehicle with ID 45 is 22.8 meters away at (-13.2, -18.6). A vehicle with ID 60 is 24.5 meters away at (20.7, 13.1). A vehicle with ID 18 is 28.5 meters away at (-16.8, -23.0). A vehicle with ID 49 is 29.8 meters away at (-8.6, -28.5).

The vehicle with ID 47 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 [ 1.8062772 -1.339613 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.02169817 -0.0140393 ] m/s.The vehicle with ID 46 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 [-0.61343277  0.34582648] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [2.6431417 3.28156  ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -3.7) m/s. Its current heading (yaw) is -2.05 radians with an angular velocity of -2.05 rad/s.

The most relevant actors are: A vehicle with ID 47 is 5.3 meters away at (-5.1, -1.3). A vehicle with ID 46 is 10.6 meters away at (-8.9, -5.8). A vehicle with ID 50 is 11.0 meters away at (-0.3, -11.0). A vehicle with ID 17 is 14.1 meters away at (13.8, 3.0). A vehicle with ID 67 is 16.3 meters away at (-6.6, 14.9). A vehicle with ID 45 is 17.1 meters away at (-13.0, -11.1). A unknown object with ID 33 is 20.5 meters away at (-15.8, 13.2). A pedestrian with ID 54 is 22.5 meters away at (-2.3, 22.4). A vehicle with ID 18 is 22.6 meters away at (-16.5, -15.4). A vehicle with ID 49 is 22.6 meters away at (-8.4, -21.0).

The vehicle with ID 47 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 50 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 [-2.529648   0.5991639] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [ 1.490416   -0.95065963] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.01738403  0.0172859 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, -6.1) m/s. Its current heading (yaw) is -2.47 radians with an angular velocity of -2.47 rad/s.

The most relevant actors are: A vehicle with ID 30 is 7.7 meters away at (2.8, -7.1). A vehicle with ID 28 is 10.4 meters away at (10.3, -1.8). A vehicle with ID 26 is 16.8 meters away at (16.4, 3.5). A vehicle with ID 25 is 19.4 meters away at (17.4, 8.6). A vehicle with ID 6 is 20.6 meters away at (-15.7, -13.3). A vehicle with ID 27 is 23.5 meters away at (22.2, 7.8). A unknown object with ID 29 is 30.8 meters away at (30.4, 4.5). A vehicle with ID 8 is 31.4 meters away at (22.3, 22.1). A vehicle with ID 31 is 46.4 meters away at (40.9, 21.9).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-8.742294 -7.067883] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-2.8985078 -7.0347023] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-5.6749253  1.3866704] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -7.0) m/s. Its current heading (yaw) is -2.46 radians with an angular velocity of -2.46 rad/s.

The most relevant actors are: A vehicle with ID 30 is 20.2 meters away at (19.3, 5.9). A vehicle with ID 6 is 23.5 meters away at (-17.7, -15.5). A vehicle with ID 28 is 29.1 meters away at (26.8, 11.4). A vehicle with ID 8 is 36.4 meters away at (28.5, 22.6). A vehicle with ID 26 is 36.9 meters away at (32.9, 16.7). A vehicle with ID 25 is 40.2 meters away at (33.8, 21.8). A vehicle with ID 27 is 43.9 meters away at (38.6, 21.0). A vehicle with ID 31 is 55.2 meters away at (44.1, 33.2).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.560058  -7.8100533] m/s.The vehicle with ID 28 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 [-6.745355 -5.920017] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 [-7.012484 -3.01876 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.1, -7.6) m/s. Its current heading (yaw) is -2.44 radians with an angular velocity of -2.44 rad/s.

The most relevant actors are: A vehicle with ID 6 is 25.6 meters away at (-19.5, -16.5). A vehicle with ID 8 is 40.4 meters away at (31.6, 25.2). A vehicle with ID 30 is 42.1 meters away at (36.8, 20.4). A vehicle with ID 28 is 51.3 meters away at (44.3, 25.9). A vehicle with ID 26 is 59.2 meters away at (50.4, 31.2). A vehicle with ID 25 is 62.8 meters away at (51.3, 36.2). A vehicle with ID 27 is 66.4 meters away at (56.1, 35.5).

The vehicle with ID 6 is traveling at a (x, y) velocity of [-9.9014    -7.8566923] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-7.6630287 -6.2078795] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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 (-9.2, -7.6) m/s. Its current heading (yaw) is -2.45 radians with an angular velocity of -2.45 rad/s.

The most relevant actors are: A unknown object with ID 10 is 10.4 meters away at (10.4, -0.1). A vehicle with ID 6 is 27.3 meters away at (-21.3, -17.1). A vehicle with ID 8 is 43.7 meters away at (33.9, 27.5). A vehicle with ID 17 is 56.5 meters away at (-42.5, -37.2). A unknown object with ID 14 is 58.0 meters away at (51.9, 25.9). A unknown object with ID 20 is 63.9 meters away at (56.7, 29.6). A vehicle with ID 30 is 65.8 meters away at (55.3, 35.6).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-10.586877  -8.294341] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-8.344146 -6.842173] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [12.784232  9.69593 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 8.1) m/s. Its current heading (yaw) is 1.94 radians with an angular velocity of 1.94 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 (-3.6, 8.4) m/s. Its current heading (yaw) is 1.98 radians with an angular velocity of 1.98 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 (-3.4, 8.1) 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 (-3.5, 7.7) 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 unknown object with ID 7 is 73.4 meters away at (33.1, -65.4).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 6.3) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 75 is 8.4 meters away at (0.0, -8.4). A vehicle with ID 71 is 9.0 meters away at (-3.0, 8.4). A vehicle with ID 74 is 23.3 meters away at (-20.8, -10.6). A vehicle with ID 27 is 25.9 meters away at (20.4, -15.9). A vehicle with ID 80 is 36.7 meters away at (-31.5, 19.0). A vehicle with ID 69 is 37.7 meters away at (28.2, -25.1). A vehicle with ID 72 is 47.0 meters away at (44.0, -16.4). A vehicle with ID 70 is 49.3 meters away at (44.8, -20.5). A pedestrian with ID 78 is 49.4 meters away at (-47.2, 14.6). A cyclist with ID 59 is 49.5 meters away at (-47.3, 14.6).

The vehicle with ID 75 is traveling at a (x, y) velocity of [10.466184 -8.741192] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-4.4744678  3.2385983] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [ 8.876078  -7.6117635] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.0108976 -1.5226147] m/s.The vehicle with ID 72 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 [6.368699 5.099632] m/s.The pedestrian with ID 78 is traveling at a (x, y) velocity of [ 1.131102  -1.0500579] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.0880632 -1.0784801] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, 6.4) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 80 is 10.5 meters away at (2.4, -10.2). A vehicle with ID 71 is 11.9 meters away at (11.3, -3.8). A vehicle with ID 64 is 21.9 meters away at (-19.9, 9.0). A vehicle with ID 74 is 23.8 meters away at (-6.4, -23.0). A cyclist with ID 59 is 30.5 meters away at (-30.5, -0.4). A vehicle with ID 27 is 32.6 meters away at (25.1, -20.8). A vehicle with ID 53 is 41.8 meters away at (-35.1, 22.7). A vehicle with ID 79 is 42.5 meters away at (-42.5, 1.0). A vehicle with ID 81 is 45.8 meters away at (-45.8, -2.9). A vehicle with ID 29 is 48.0 meters away at (-47.7, -4.9).

The vehicle with ID 80 is traveling at a (x, y) velocity of [10.444891 -8.798911] m/s.The vehicle with ID 71 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 [ 8.850045  -7.4522133] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.205135  -1.1678646] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-5.267603   4.2535896] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ 9.661126 -7.801757] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.3, 6.2) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 53 is 6.1 meters away at (0.1, -6.1). A vehicle with ID 55 is 16.3 meters away at (-16.3, 0.7). A cyclist with ID 59 is 20.2 meters away at (-13.3, -15.3). A vehicle with ID 64 is 23.1 meters away at (12.9, -19.1). A vehicle with ID 79 is 30.1 meters away at (-27.7, -11.6). A vehicle with ID 71 is 30.7 meters away at (26.0, -16.3). A pedestrian with ID 36 is 34.0 meters away at (13.1, -31.4). A vehicle with ID 81 is 34.7 meters away at (-31.1, -15.4). A vehicle with ID 43 is 35.3 meters away at (-35.2, 2.3). A vehicle with ID 74 is 36.4 meters away at (8.3, -35.5).

The vehicle with ID 53 is traveling at a (x, y) velocity of [11.18053 -8.5691 ] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 9.197819 -7.710847] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.3516086 -1.2048377] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 9.2573    -7.9186335] m/s.The vehicle with ID 79 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 pedestrian with ID 36 is traveling at a (x, y) velocity of [0.0096684  0.00742417] m/s.The vehicle with ID 81 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, 6.3) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 26 is 16.8 meters away at (-16.7, 2.4). A vehicle with ID 43 is 22.9 meters away at (-20.5, -10.2). A vehicle with ID 58 is 25.5 meters away at (-22.4, -12.3). A vehicle with ID 79 is 27.4 meters away at (-13.0, -24.1). A cyclist with ID 59 is 30.3 meters away at (4.1, -30.1). A vehicle with ID 65 is 30.9 meters away at (-26.1, -16.5). A vehicle with ID 55 is 32.1 meters away at (16.8, -27.4). A vehicle with ID 81 is 32.3 meters away at (-16.4, -27.8). A vehicle with ID 60 is 33.3 meters away at (-27.6, -18.7). A vehicle with ID 29 is 35.0 meters away at (-18.1, -30.0).

The vehicle with ID 26 is traveling at a (x, y) velocity of [ 4.3182364 -4.223794 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 59 is traveling at a (x, y) velocity of [ 1.3286223 -1.0285214] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 9.051451  -7.6448417] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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, 1.9) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A pedestrian with ID 67 is 9.4 meters away at (-4.6, -8.2). A vehicle with ID 75 is 10.1 meters away at (-3.8, -9.4). A pedestrian with ID 74 is 10.9 meters away at (-2.9, -10.5). A vehicle with ID 76 is 12.4 meters away at (-11.9, -3.5). A vehicle with ID 82 is 17.4 meters away at (-8.6, -15.1). A vehicle with ID 84 is 19.1 meters away at (-16.7, -9.2). A vehicle with ID 80 is 23.4 meters away at (-12.7, -19.6). A vehicle with ID 83 is 29.3 meters away at (-16.4, -24.3). A vehicle with ID 77 is 29.7 meters away at (29.6, 2.4). A vehicle with ID 85 is 31.7 meters away at (-25.1, -19.3).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.57639533 -0.8159838 ] m/s.The vehicle with ID 75 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 [0.02514456 0.00467864] m/s.The vehicle with ID 76 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 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 (0.2, 0.2) 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 pedestrian with ID 67 is 12.2 meters away at (-6.6, -10.3). A vehicle with ID 75 is 12.3 meters away at (-5.2, -11.1). A pedestrian with ID 74 is 12.8 meters away at (-4.1, -12.2). A vehicle with ID 76 is 14.1 meters away at (-13.2, -5.1). A vehicle with ID 82 is 19.5 meters away at (-10.0, -16.8). A vehicle with ID 84 is 21.1 meters away at (-18.0, -10.9). A vehicle with ID 80 is 25.6 meters away at (-14.1, -21.4). A vehicle with ID 77 is 28.3 meters away at (28.3, 0.8). A vehicle with ID 83 is 31.5 meters away at (-17.8, -26.0). A unknown object with ID 60 is 33.1 meters away at (14.4, 29.8).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.04085874 -0.03297196] m/s.The vehicle with ID 75 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 [-0.01110066 -0.05872007] m/s.The vehicle with ID 76 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 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 (1.9, 2.2) 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 67 is 14.7 meters away at (-7.8, -12.5). A vehicle with ID 75 is 15.1 meters away at (-7.1, -13.3). A pedestrian with ID 74 is 15.6 meters away at (-6.1, -14.4). A vehicle with ID 76 is 16.8 meters away at (-15.1, -7.3). A vehicle with ID 82 is 22.3 meters away at (-11.8, -18.9). A vehicle with ID 84 is 23.8 meters away at (-19.9, -13.0). A vehicle with ID 77 is 26.4 meters away at (26.4, -1.4). A vehicle with ID 80 is 28.4 meters away at (-15.9, -23.5). A unknown object with ID 60 is 30.3 meters away at (12.4, 27.6). A unknown object with ID 93 is 31.3 meters away at (22.6, 21.7).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.00820188 0.00656612] m/s.The vehicle with ID 75 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 [ 0.01963609 -0.02271501] m/s.The vehicle with ID 76 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 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.8, 4.6) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A unknown object with ID 60 is 21.5 meters away at (6.5, 20.5). A unknown object with ID 93 is 22.2 meters away at (16.6, 14.7). A vehicle with ID 77 is 22.2 meters away at (20.5, -8.4). A vehicle with ID 16 is 22.4 meters away at (11.5, 19.2). A vehicle with ID 75 is 24.2 meters away at (-13.0, -20.4). A pedestrian with ID 74 is 24.4 meters away at (-12.0, -21.2). A vehicle with ID 76 is 25.4 meters away at (-21.0, -14.3). A pedestrian with ID 95 is 26.5 meters away at (26.2, 3.8). A pedestrian with ID 63 is 26.9 meters away at (19.1, 18.9). A pedestrian with ID 97 is 27.4 meters away at (27.0, 4.1).

The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 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 [-4.035147  -4.2855167] m/s.The vehicle with ID 75 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 [0.07585943 0.4033707 ] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 95 is traveling at a (x, y) velocity of [0.29548353 0.04296968] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.03031135 0.00017679] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [0.01896273 0.00103397] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.0) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 53 is 9.7 meters away at (-1.1, -9.7). A vehicle with ID 51 is 10.0 meters away at (1.3, 9.9). A vehicle with ID 50 is 10.2 meters away at (1.6, -10.1). A vehicle with ID 58 is 10.5 meters away at (-3.8, -9.8). A vehicle with ID 59 is 10.7 meters away at (-4.0, 9.9). A vehicle with ID 57 is 10.7 meters away at (-1.3, 10.6). A vehicle with ID 5 is 10.8 meters away at (-10.8, 1.0). A vehicle with ID 48 is 11.0 meters away at (4.4, -10.1). A vehicle with ID 49 is 11.1 meters away at (4.0, 10.4). A vehicle with ID 60 is 11.7 meters away at (-6.7, -9.7).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.6845521  -0.00484168] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching