The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -6.3) m/s. Its current heading (yaw) is -1.58 radians with an angular velocity of -1.58 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 6.1 meters away at (6.1, -0.2). A vehicle with ID 72 is 11.1 meters away at (-10.2, 4.4). A vehicle with ID 65 is 14.5 meters away at (0.3, 14.5). A unknown object with ID 62 is 15.8 meters away at (-15.5, 3.4). A unknown object with ID 48 is 16.4 meters away at (15.7, -4.5). A vehicle with ID 63 is 17.6 meters away at (14.5, -10.0). A unknown object with ID 45 is 20.3 meters away at (17.9, -9.7). A unknown object with ID 19 is 22.0 meters away at (20.4, -8.2). A unknown object with ID 37 is 23.7 meters away at (22.3, -8.0). A unknown object with ID 40 is 27.9 meters away at (26.9, -7.7).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.01540566 -1.6861721 ] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.43810064  8.208447  ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 2.1001651 -6.1020827] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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 37 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.2, 3.1) 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 22 is 24.4 meters away at (5.7, 23.7). A vehicle with ID 23 is 28.7 meters away at (11.6, 26.3). A vehicle with ID 9 is 34.3 meters away at (18.2, 29.1). A vehicle with ID 11 is 39.0 meters away at (23.3, 31.3). A vehicle with ID 14 is 44.3 meters away at (28.7, 33.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, 1.5) m/s. Its current heading (yaw) is 2.03 radians with an angular velocity of 2.03 rad/s.

The most relevant actors are: A vehicle with ID 22 is 20.7 meters away at (7.7, 19.3). A vehicle with ID 23 is 25.6 meters away at (13.5, 21.8). A vehicle with ID 9 is 31.8 meters away at (20.2, 24.6). A vehicle with ID 2 is 34.9 meters away at (-34.3, -6.4). A vehicle with ID 11 is 36.9 meters away at (25.4, 26.8). A vehicle with ID 1 is 40.8 meters away at (-39.8, -9.0). A vehicle with ID 14 is 42.3 meters away at (30.6, 29.2). A vehicle with ID 17 is 53.0 meters away at (40.9, 33.7).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 2.0) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 22 is 18.7 meters away at (10.2, 15.7). A vehicle with ID 23 is 24.3 meters away at (16.1, 18.2). A vehicle with ID 9 is 31.0 meters away at (22.8, 21.0). A vehicle with ID 2 is 33.4 meters away at (-31.9, -9.7). A vehicle with ID 11 is 36.3 meters away at (28.0, 23.2). A vehicle with ID 1 is 39.5 meters away at (-37.6, -12.2). A vehicle with ID 14 is 41.9 meters away at (33.3, 25.5). A vehicle with ID 17 is 52.9 meters away at (43.6, 30.0).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, 0.3) m/s. Its current heading (yaw) is 3.09 radians with an angular velocity of 3.09 rad/s.

The most relevant actors are: A vehicle with ID 22 is 21.9 meters away at (17.6, 13.1). A vehicle with ID 2 is 27.4 meters away at (-24.6, -12.2). A vehicle with ID 23 is 28.1 meters away at (23.4, 15.5). A vehicle with ID 1 is 33.7 meters away at (-30.3, -14.7). A vehicle with ID 9 is 35.3 meters away at (30.2, 18.4). A vehicle with ID 11 is 40.9 meters away at (35.4, 20.5). A vehicle with ID 8 is 41.7 meters away at (-37.7, -17.9). A vehicle with ID 14 is 46.6 meters away at (40.6, 22.9). A vehicle with ID 16 is 50.2 meters away at (-45.6, -21.1). A vehicle with ID 17 is 57.7 meters away at (50.8, 27.3).

The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 9 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 13 is 17.2 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.2, 18.7). A pedestrian with ID 1 is 26.3 meters away at (12.8, 22.9). A vehicle with ID 25 is 27.3 meters away at (-19.1, 19.5). A unknown object with ID 29 is 35.1 meters away at (15.1, 31.7). A unknown object with ID 35 is 51.0 meters away at (2.6, 51.0). A vehicle with ID 36 is 78.8 meters away at (-33.8, -71.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.12946449 -0.01025301] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 13 is 17.3 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.2, 18.7). A pedestrian with ID 1 is 26.3 meters away at (12.5, 23.2). A unknown object with ID 29 is 35.1 meters away at (15.1, 31.7). A unknown object with ID 35 is 51.0 meters away at (2.6, 51.0). A vehicle with ID 8 is 61.3 meters away at (-30.4, -53.2). A vehicle with ID 36 is 78.8 meters away at (-33.8, -71.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.20924173  0.70948   ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 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 [ 2.1594028 -1.7646592] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 13 is 17.2 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.2, 18.7). A pedestrian with ID 1 is 28.0 meters away at (12.3, 25.1). A unknown object with ID 35 is 51.0 meters away at (2.6, 51.0). A unknown object with ID 4 is 65.5 meters away at (-33.2, -56.4). A vehicle with ID 8 is 65.5 meters away at (-27.4, -59.5). A vehicle with ID 36 is 78.8 meters away at (-33.8, -71.1).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.21379931 1.0899374 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.3612232 -4.441577 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 13 is 17.2 meters away at (5.6, 16.3). A vehicle with ID 18 is 20.6 meters away at (-11.2, 17.3). A vehicle with ID 21 is 22.6 meters away at (-13.4, 18.2). A vehicle with ID 23 is 24.7 meters away at (-16.1, 18.7). A vehicle with ID 12 is 27.4 meters away at (-18.8, 20.0). A pedestrian with ID 1 is 30.0 meters away at (12.6, 27.2). A unknown object with ID 7 is 35.0 meters away at (15.1, 31.6). A unknown object with ID 4 is 65.3 meters away at (-33.2, -56.2). A vehicle with ID 8 is 76.1 meters away at (-29.6, -70.1). A vehicle with ID 36 is 78.9 meters away at (-33.9, -71.2).

The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [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 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.26611668 1.0405977 ] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 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 [-2.027107 -6.043099] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 3.3) m/s. Its current heading (yaw) is 1.41 radians with an angular velocity of 1.41 rad/s.

The most relevant actors are: A unknown object with ID 11 is 33.4 meters away at (-3.4, 33.2). A cyclist with ID 2 is 47.6 meters away at (-16.5, -44.7). A pedestrian with ID 13 is 47.7 meters away at (-16.6, -44.7). A unknown object with ID 9 is 52.1 meters away at (39.1, 34.3). A unknown object with ID 19 is 53.5 meters away at (41.6, 33.6). A pedestrian with ID 20 is 54.8 meters away at (42.3, 34.7). A unknown object with ID 21 is 56.6 meters away at (46.4, 32.4). A pedestrian with ID 15 is 58.1 meters away at (-22.0, -53.7). A vehicle with ID 22 is 59.2 meters away at (48.2, 34.4). A unknown object with ID 17 is 60.2 meters away at (-22.4, -55.9).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 2 is traveling at a (x, y) velocity of [-1.0084314  0.1383369] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [-1.1140804  -0.06018537] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.2407668  0.19382209] m/s.The unknown object with ID 21 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 [-0.02142465 -0.01850728] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.8) m/s. Its current heading (yaw) is 1.45 radians with an angular velocity of 1.45 rad/s.

The most relevant actors are: A unknown object with ID 11 is 29.3 meters away at (-4.0, 29.1). A unknown object with ID 9 is 49.0 meters away at (38.6, 30.2). A unknown object with ID 19 is 50.5 meters away at (41.0, 29.4). A pedestrian with ID 20 is 52.3 meters away at (42.2, 31.0). A unknown object with ID 21 is 53.8 meters away at (45.8, 28.2). A vehicle with ID 22 is 56.4 meters away at (47.7, 30.1). A vehicle with ID 16 is 73.8 meters away at (-14.8, -72.3).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00190409 -0.00642212] m/s.The unknown object with ID 21 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 16 is traveling at a (x, y) velocity of [-1.8095374 -4.272977 ] 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 1.47 radians with an angular velocity of 1.47 rad/s.

The most relevant actors are: A unknown object with ID 11 is 28.6 meters away at (-4.1, 28.4). A unknown object with ID 9 is 48.5 meters away at (38.4, 29.5). A unknown object with ID 19 is 50.0 meters away at (40.9, 28.8). A unknown object with ID 8 is 51.7 meters away at (42.0, 30.3). A pedestrian with ID 20 is 51.8 meters away at (42.1, 30.3). A unknown object with ID 21 is 53.4 meters away at (45.7, 27.5). A vehicle with ID 22 is 56.0 meters away at (47.6, 29.6). A unknown object with ID 6 is 67.1 meters away at (1.5, -67.1).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [ 0.03306259 -0.00275254] m/s.The unknown object with ID 21 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 unknown object with ID 6 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 1.47 radians with an angular velocity of 1.47 rad/s.

The most relevant actors are: A unknown object with ID 11 is 28.6 meters away at (-4.1, 28.4). A unknown object with ID 9 is 48.5 meters away at (38.4, 29.5). A unknown object with ID 19 is 50.0 meters away at (40.9, 28.8). A unknown object with ID 8 is 51.7 meters away at (41.9, 30.2). A pedestrian with ID 20 is 51.8 meters away at (42.0, 30.2). A unknown object with ID 21 is 53.3 meters away at (45.7, 27.5). A vehicle with ID 22 is 56.0 meters away at (47.6, 29.6). A vehicle with ID 1 is 62.6 meters away at (60.5, 16.1). A unknown object with ID 6 is 67.2 meters away at (1.6, -67.2). A unknown object with ID 3 is 77.7 meters away at (1.5, -77.7).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.01970403 -0.00792438] m/s.The unknown object with ID 21 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 1 is traveling at a (x, y) velocity of [-8.177591   -0.20429622] 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -6.0) m/s. Its current heading (yaw) is -1.21 radians with an angular velocity of -1.21 rad/s.

The most relevant actors are: A cyclist with ID 13 is 60.9 meters away at (15.3, -58.9). A pedestrian with ID 1 is 77.1 meters away at (24.2, -73.2).

The cyclist with ID 13 is traveling at a (x, y) velocity of [-3.6432304e-08 -7.6003232e-08] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.01824768  0.0327008 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, -6.0) m/s. Its current heading (yaw) is -1.18 radians with an angular velocity of -1.18 rad/s.

The most relevant actors are: A pedestrian with ID 1 is 64.1 meters away at (19.3, -61.2). A vehicle with ID 14 is 68.7 meters away at (33.4, -60.1). A vehicle with ID 15 is 70.4 meters away at (12.3, -69.3).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.0023253   0.03025357] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.729324   6.3080506] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0.8590958  0.19836631] 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, -5.8) m/s. Its current heading (yaw) is -1.14 radians with an angular velocity of -1.14 rad/s.

The most relevant actors are: A vehicle with ID 14 is 39.4 meters away at (17.3, -35.4). A pedestrian with ID 1 is 51.4 meters away at (14.3, -49.3). A vehicle with ID 3 is 65.9 meters away at (32.2, -57.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.215654   6.7280126] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.09766159 -0.00502919] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -5.0) m/s. Its current heading (yaw) is -1.06 radians with an angular velocity of -1.06 rad/s.

The most relevant actors are: A vehicle with ID 14 is 10.1 meters away at (1.7, -9.9). A pedestrian with ID 1 is 39.4 meters away at (8.9, -38.4). A vehicle with ID 3 is 53.5 meters away at (26.7, -46.4). A vehicle with ID 7 is 76.2 meters away at (42.7, -63.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.6414886  7.6644883] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.5011985  0.14810981] m/s.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. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -1.7) m/s. Its current heading (yaw) is -0.27 radians with an angular velocity of -0.27 rad/s.

The most relevant actors are: A vehicle with ID 21 is 12.5 meters away at (3.6, -11.9). A cyclist with ID 24 is 23.4 meters away at (-20.3, -11.7). A vehicle with ID 23 is 27.2 meters away at (-26.9, -3.6). A vehicle with ID 11 is 27.2 meters away at (-27.0, -3.5). A vehicle with ID 22 is 49.8 meters away at (-46.4, 18.0). A unknown object with ID 20 is 50.5 meters away at (49.9, 7.6).

The vehicle with ID 21 is traveling at a (x, y) velocity of [10.781364 -9.425183] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-10.34083    9.612698] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-10.859823   9.40795 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-11.086645   9.932521] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-9.315198  8.191741] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 1.2) m/s. Its current heading (yaw) is 0.19 radians with an angular velocity of 0.19 rad/s.

The most relevant actors are: A vehicle with ID 21 is 32.9 meters away at (12.7, -30.3). A unknown object with ID 9 is 35.3 meters away at (35.1, 4.3). A unknown object with ID 15 is 36.5 meters away at (36.1, 5.9). A unknown object with ID 17 is 37.1 meters away at (36.6, 6.3). A unknown object with ID 10 is 37.2 meters away at (-31.7, 19.5). A unknown object with ID 20 is 38.2 meters away at (37.4, 8.0). A unknown object with ID 13 is 40.0 meters away at (38.9, 9.2). A cyclist with ID 24 is 54.1 meters away at (-53.5, 8.2). A unknown object with ID 1 is 61.3 meters away at (54.2, 28.6). A vehicle with ID 23 is 64.0 meters away at (-61.8, 16.9).

The vehicle with ID 21 is traveling at a (x, y) velocity of [10.955742 -9.723728] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-10.180263   9.839229] m/s.The unknown object with ID 1 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 [-11.260944  10.045681] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 4.7) m/s. Its current heading (yaw) is 0.73 radians with an angular velocity of 0.73 rad/s.

The most relevant actors are: A unknown object with ID 9 is 23.3 meters away at (23.3, -1.4). A unknown object with ID 15 is 24.1 meters away at (24.1, 0.2). A unknown object with ID 17 is 24.6 meters away at (24.6, 0.6). A unknown object with ID 20 is 25.6 meters away at (25.5, 2.3). A unknown object with ID 13 is 27.2 meters away at (27.0, 3.5). A unknown object with ID 6 is 32.1 meters away at (18.6, 26.2). A unknown object with ID 5 is 32.3 meters away at (18.0, 26.8). A unknown object with ID 4 is 33.0 meters away at (18.3, 27.5). A unknown object with ID 3 is 33.2 meters away at (19.5, 26.9). A unknown object with ID 1 is 48.3 meters away at (42.5, 22.8).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 5.8) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A unknown object with ID 6 is 17.5 meters away at (8.3, 15.4). A unknown object with ID 20 is 17.5 meters away at (15.4, -8.3). A unknown object with ID 17 is 17.6 meters away at (14.5, -10.1). A unknown object with ID 5 is 17.7 meters away at (7.6, 16.0). A unknown object with ID 9 is 17.8 meters away at (13.1, -12.1). A unknown object with ID 13 is 18.3 meters away at (16.8, -7.2). A unknown object with ID 3 is 18.5 meters away at (8.9, 16.2). A unknown object with ID 4 is 18.5 meters away at (8.1, 16.7). A unknown object with ID 2 is 32.9 meters away at (31.5, 9.7). A unknown object with ID 1 is 34.4 meters away at (32.1, 12.4).

The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 (0.3, 5.4) m/s. Its current heading (yaw) is 1.52 radians with an angular velocity of 1.52 rad/s.

The most relevant actors are: A vehicle with ID 12 is 13.5 meters away at (-11.8, -6.5). A vehicle with ID 59 is 15.3 meters away at (11.1, -10.5). A pedestrian with ID 57 is 16.5 meters away at (0.2, -16.5). A vehicle with ID 55 is 16.7 meters away at (-1.6, 16.6). A vehicle with ID 64 is 18.5 meters away at (-18.4, 1.8). A vehicle with ID 58 is 18.6 meters away at (8.6, -16.5). A unknown object with ID 60 is 19.3 meters away at (17.4, -8.4). A vehicle with ID 61 is 22.6 meters away at (13.4, -18.2). A vehicle with ID 54 is 22.9 meters away at (0.7, 22.9). A vehicle with ID 76 is 25.5 meters away at (-25.4, -2.4).

The vehicle with ID 12 is traveling at a (x, y) velocity of [ 2.7966342  -0.02394398] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.9487579   0.60682184] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [ 0.00697656 -0.00453656] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 5.71935   -1.7930844] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.2) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 55 is 6.2 meters away at (-4.9, 3.9). A vehicle with ID 54 is 10.5 meters away at (-2.6, 10.1). A vehicle with ID 52 is 16.2 meters away at (-0.5, 16.2). A vehicle with ID 12 is 18.2 meters away at (-8.1, -16.3). A vehicle with ID 59 is 23.2 meters away at (5.6, -22.5). A vehicle with ID 64 is 24.3 meters away at (-21.7, -10.8). A vehicle with ID 76 is 27.1 meters away at (-20.5, -17.7). A pedestrian with ID 57 is 29.5 meters away at (-3.2, -29.3). A vehicle with ID 58 is 29.8 meters away at (5.1, -29.3). A vehicle with ID 20 is 35.5 meters away at (14.2, 32.5).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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 [3.7267246 3.4975865] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.0036242  0.3831178] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [ 3.1142507 -1.044538 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.0023903  -0.02119338] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.5, 7.3) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 52 is 5.7 meters away at (-5.5, 1.7). A vehicle with ID 54 is 8.7 meters away at (-7.5, -4.4). A vehicle with ID 55 is 14.4 meters away at (-9.8, -10.6). A vehicle with ID 13 is 15.8 meters away at (-8.3, 13.4). A vehicle with ID 20 is 20.2 meters away at (9.3, 17.9). A vehicle with ID 12 is 21.6 meters away at (-6.8, -20.5). A vehicle with ID 51 is 24.4 meters away at (2.2, 24.3). A vehicle with ID 6 is 24.7 meters away at (-8.6, 23.2). A vehicle with ID 53 is 31.1 meters away at (4.8, 30.7). A vehicle with ID 59 is 35.7 meters away at (-4.0, -35.5).

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.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.7282615 6.4566126] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 [-3.697445  1.328161] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.5) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 20 is 6.2 meters away at (4.6, 4.1). A vehicle with ID 51 is 10.7 meters away at (-2.4, 10.4). A vehicle with ID 13 is 13.0 meters away at (-13.0, -0.3). A vehicle with ID 52 is 15.7 meters away at (-10.1, -12.1). A vehicle with ID 6 is 16.2 meters away at (-13.2, 9.4). A vehicle with ID 53 is 16.9 meters away at (0.1, 16.9). A vehicle with ID 44 is 18.4 meters away at (-18.3, 1.6). A vehicle with ID 54 is 21.9 meters away at (-12.1, -18.2). A vehicle with ID 12 is 22.2 meters away at (-6.6, -21.2). A vehicle with ID 56 is 24.4 meters away at (2.8, 24.3).

The vehicle with ID 20 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 13 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [2.252754  6.6440063] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, -6.2) 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 62 is 13.6 meters away at (2.6, -13.4). A unknown object with ID 34 is 22.8 meters away at (-21.0, -8.8). A unknown object with ID 72 is 25.1 meters away at (-21.7, -12.6). A unknown object with ID 37 is 31.1 meters away at (-24.8, -18.6). A pedestrian with ID 75 is 31.5 meters away at (-22.9, -21.7). A pedestrian with ID 5 is 33.0 meters away at (-17.8, -27.8). A pedestrian with ID 71 is 34.1 meters away at (-18.6, -28.6). A vehicle with ID 39 is 34.3 meters away at (-25.3, -23.1). A unknown object with ID 79 is 40.9 meters away at (-28.2, -29.7). A pedestrian with ID 80 is 51.0 meters away at (-11.5, -49.7).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.00295003 -0.00491605] 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 72 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 pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.02333214 -0.02490003] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [ 0.00034579 -0.00276359] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.00120801 -0.0076428 ] m/s.The vehicle with ID 39 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 pedestrian with ID 80 is traveling at a (x, y) velocity of [0.86309075 0.7759008 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, -5.0) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A pedestrian with ID 62 is 6.4 meters away at (5.9, -2.3). A unknown object with ID 72 is 18.4 meters away at (-18.3, -1.6). A pedestrian with ID 61 is 21.1 meters away at (-21.0, -2.0). A pedestrian with ID 31 is 21.5 meters away at (-21.2, -3.6). A pedestrian with ID 5 is 22.0 meters away at (-14.4, -16.6). A pedestrian with ID 75 is 22.3 meters away at (-19.5, -10.7). A pedestrian with ID 71 is 23.2 meters away at (-15.1, -17.6). A vehicle with ID 39 is 24.5 meters away at (-21.6, -11.6). A pedestrian with ID 4 is 29.4 meters away at (2.1, -29.4). A pedestrian with ID 80 is 37.8 meters away at (-6.6, -37.2).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [ 0.01099315 -0.00848772] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00305768  0.00320421] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [-0.06366163  0.09786575] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.01075723 -0.08624977] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [ 0.00663003 -0.01145049] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [0.02299135 0.01363255] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.6490227  0.92442685] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -4.5) 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 unknown object with ID 52 is 11.8 meters away at (9.6, 6.9). A pedestrian with ID 5 is 13.1 meters away at (-10.9, -7.3). A pedestrian with ID 71 is 14.3 meters away at (-11.6, -8.3). A pedestrian with ID 75 is 16.1 meters away at (-16.0, -1.3). A unknown object with ID 72 is 16.8 meters away at (-14.8, 7.8). A unknown object with ID 19 is 18.1 meters away at (-18.0, 1.7). A pedestrian with ID 51 is 18.8 meters away at (-17.0, 8.0). A pedestrian with ID 61 is 18.8 meters away at (-17.4, 7.2). A pedestrian with ID 4 is 20.8 meters away at (5.6, -20.0). A unknown object with ID 58 is 24.2 meters away at (-23.5, -5.8).

The unknown object with ID 52 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 [0.00068424 0.06286059] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.01850198  0.00732159] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.00737829  0.04387891] m/s.The unknown object with ID 72 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 pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.00664897  0.00311929] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.04914086 0.03130977] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00598595  0.00125965] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -3.8) 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 pedestrian with ID 5 is 7.4 meters away at (-7.3, 1.1). A pedestrian with ID 71 is 8.0 meters away at (-8.0, -0.1). A pedestrian with ID 75 is 14.3 meters away at (-12.5, 7.0). A pedestrian with ID 4 is 14.9 meters away at (9.1, -11.8). A pedestrian with ID 80 is 16.4 meters away at (2.9, -16.2). A unknown object with ID 19 is 17.5 meters away at (-14.4, 9.9). A unknown object with ID 57 is 18.3 meters away at (-15.7, 9.4). A unknown object with ID 72 is 19.6 meters away at (-11.2, 16.1). A unknown object with ID 66 is 19.9 meters away at (-19.4, 4.8). A unknown object with ID 52 is 20.0 meters away at (13.1, 15.1).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.0207422  0.05198272] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [-0.00664499 -0.00595401] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [-0.04899525 -0.01434942] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.08904229 -0.09948656] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.6765986  0.78488725] 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, 1.8) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 20 is 34.1 meters away at (-2.4, -34.0). A vehicle with ID 21 is 51.0 meters away at (-5.7, -50.6).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 1.0) m/s. Its current heading (yaw) is 2.89 radians with an angular velocity of 2.89 rad/s.

The most relevant actors are: A vehicle with ID 20 is 37.3 meters away at (3.8, -37.1).

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 (-5.4, -0.1) m/s. Its current heading (yaw) is -3.12 radians with an angular velocity of -3.12 rad/s.

The most relevant actors are: A unknown object with ID 16 is 65.2 meters away at (-63.7, -13.9). A pedestrian with ID 3 is 72.4 meters away at (-72.0, 7.2). A pedestrian with ID 10 is 72.7 meters away at (-72.5, 5.2).

The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.9301321 0.0541085] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.1885983 -0.9885419] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, -0.3) m/s. Its current heading (yaw) is -3.09 radians with an angular velocity of -3.09 rad/s.

The most relevant actors are: A pedestrian with ID 3 is 60.1 meters away at (-59.5, 8.9). A pedestrian with ID 10 is 63.6 meters away at (-63.5, 4.0). A pedestrian with ID 5 is 69.9 meters away at (-69.9, 0.9). A pedestrian with ID 6 is 70.5 meters away at (-70.5, 1.7). A pedestrian with ID 7 is 75.3 meters away at (-73.9, -14.2).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [0.5524604  0.59608674] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-1.0936881 -0.9644393] m/s.The pedestrian with ID 5 is traveling at a (x, y) velocity of [1.2439927  0.24531075] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [1.205124   0.12955272] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.5237076 -0.4627805] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, -0.6) m/s. Its current heading (yaw) is -0.79 radians with an angular velocity of -0.79 rad/s.

The most relevant actors are: A unknown object with ID 28 is 12.6 meters away at (-8.2, -9.5). A unknown object with ID 27 is 13.1 meters away at (-11.8, -5.6). A pedestrian with ID 30 is 13.3 meters away at (-7.7, -10.8). A unknown object with ID 25 is 13.7 meters away at (-13.4, -2.8). A unknown object with ID 26 is 14.7 meters away at (-14.7, -0.4). A unknown object with ID 16 is 15.3 meters away at (-15.3, 0.6). A unknown object with ID 29 is 18.7 meters away at (-3.8, 18.3). A pedestrian with ID 33 is 21.3 meters away at (-14.4, -15.6). A vehicle with ID 31 is 21.4 meters away at (-6.8, 20.3). A cyclist with ID 34 is 52.4 meters away at (-28.6, 43.9).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.008631   -0.01140395] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.0294446  -0.00905819] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-1.0803461  5.1249123] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) 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 28 is 12.5 meters away at (-8.7, -9.0). A pedestrian with ID 30 is 13.2 meters away at (-8.2, -10.3). A unknown object with ID 27 is 13.2 meters away at (-12.2, -5.1). A unknown object with ID 25 is 14.1 meters away at (-13.9, -2.1). A unknown object with ID 11 is 14.3 meters away at (-14.2, -1.6). A unknown object with ID 16 is 15.4 meters away at (-15.4, 0.6). A unknown object with ID 29 is 19.3 meters away at (-4.3, 18.8). A pedestrian with ID 33 is 21.2 meters away at (-14.9, -15.1). A vehicle with ID 31 is 22.0 meters away at (-7.2, 20.8). A pedestrian with ID 10 is 59.8 meters away at (-35.6, 48.1).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.08623216  0.13555843] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 16 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.37173927  0.17320997] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [-0.32402387  1.2293133 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -1.1) m/s. Its current heading (yaw) is -0.34 radians with an angular velocity of -0.34 rad/s.

The most relevant actors are: A unknown object with ID 28 is 14.0 meters away at (-12.4, -6.5). A pedestrian with ID 30 is 14.3 meters away at (-11.9, -7.9). A unknown object with ID 24 is 16.2 meters away at (-15.2, -5.8). A pedestrian with ID 33 is 22.5 meters away at (-18.6, -12.6). A unknown object with ID 29 is 22.7 meters away at (-7.9, 21.3). A unknown object with ID 17 is 24.1 meters away at (-8.4, 22.6). A vehicle with ID 31 is 25.6 meters away at (-10.8, 23.2). A pedestrian with ID 8 is 65.9 meters away at (-39.4, 52.9).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.00497879  0.00293575] m/s.The unknown object with ID 24 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 [0.00754316 0.00462288] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.16640502  1.0793453 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, 1.6) m/s. Its current heading (yaw) is 0.34 radians with an angular velocity of 0.34 rad/s.

The most relevant actors are: A unknown object with ID 4 is 17.8 meters away at (10.8, 14.2). A unknown object with ID 28 is 21.6 meters away at (-20.6, -6.7). A unknown object with ID 29 is 26.6 meters away at (-16.2, 21.1). A unknown object with ID 3 is 26.9 meters away at (17.8, 20.1). A unknown object with ID 17 is 27.9 meters away at (-16.6, 22.4). A unknown object with ID 2 is 29.0 meters away at (19.4, 21.5). A pedestrian with ID 33 is 29.5 meters away at (-26.7, -12.7). A unknown object with ID 1 is 31.1 meters away at (20.9, 23.0). A cyclist with ID 6 is 53.3 meters away at (42.9, 31.7).

The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 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 [ 0.05741022 -0.0353099 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 6 is traveling at a (x, y) velocity of [-3.8971806 -7.2808633] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -2.6) m/s. Its current heading (yaw) is -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A vehicle with ID 16 is 10.9 meters away at (-8.6, 6.7). A vehicle with ID 61 is 18.6 meters away at (3.7, -18.2). A unknown object with ID 60 is 20.0 meters away at (-6.6, -18.9). A vehicle with ID 59 is 20.0 meters away at (-6.4, 19.0). A pedestrian with ID 65 is 23.4 meters away at (23.4, -0.2). A pedestrian with ID 66 is 23.5 meters away at (23.4, -1.2). A vehicle with ID 63 is 23.7 meters away at (21.8, 9.4). A vehicle with ID 62 is 25.8 meters away at (-11.4, 23.2). A vehicle with ID 64 is 26.1 meters away at (21.8, 14.4). A vehicle with ID 69 is 26.6 meters away at (23.7, -12.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.8488348  0.5310033] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0042374  0.6062008] m/s.The vehicle with ID 63 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.81075984  0.6767478 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -4.5) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 69 is 10.8 meters away at (10.7, -1.1). A vehicle with ID 61 is 12.0 meters away at (-4.6, -11.0). A pedestrian with ID 66 is 14.7 meters away at (12.9, 7.2). A pedestrian with ID 65 is 15.5 meters away at (13.3, 8.0). A unknown object with ID 60 is 18.9 meters away at (-14.9, -11.8). A vehicle with ID 16 is 20.5 meters away at (-15.8, 13.0). A vehicle with ID 63 is 21.3 meters away at (13.5, 16.5). A vehicle with ID 70 is 22.5 meters away at (20.6, -9.0). A vehicle with ID 64 is 25.5 meters away at (13.5, 21.6). A vehicle with ID 71 is 28.3 meters away at (26.8, -8.8).

The vehicle with ID 69 is traveling at a (x, y) velocity of [-3.7476099  3.035728 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-1.0316038  0.6594402] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.9801012  0.6163677] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.6488652 -1.3367816] m/s.The vehicle with ID 63 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 [-1.7522529  1.4697961] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.4) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 70 is 6.4 meters away at (2.5, 5.9). A vehicle with ID 71 is 14.8 meters away at (14.8, 1.1). A vehicle with ID 76 is 15.5 meters away at (14.8, -4.6). A vehicle with ID 61 is 16.7 meters away at (-16.7, -1.2). A pedestrian with ID 73 is 17.3 meters away at (17.3, 1.2). A pedestrian with ID 66 is 18.5 meters away at (-1.0, 18.5). A pedestrian with ID 65 is 19.2 meters away at (-0.5, 19.2). A vehicle with ID 69 is 19.5 meters away at (-10.6, 16.4). A vehicle with ID 78 is 21.3 meters away at (19.5, -8.5). A vehicle with ID 63 is 26.5 meters away at (1.5, 26.4).

The vehicle with ID 70 is traveling at a (x, y) velocity of [-4.1444817  3.4043844] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-1.8871979  1.6072515] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [ 0.02519281 -0.01577247] m/s.The pedestrian with ID 66 is traveling at a (x, y) velocity of [-0.76776546  0.58136296] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.7939733  0.597722 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-5.194364  4.33969 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-1.8318965  1.5691066] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -5.4) m/s. Its current heading (yaw) is -0.62 radians with an angular velocity of -0.62 rad/s.

The most relevant actors are: A vehicle with ID 78 is 6.3 meters away at (0.2, 6.3). A vehicle with ID 76 is 10.8 meters away at (-4.1, 9.9). A vehicle with ID 71 is 11.8 meters away at (0.3, 11.8). A pedestrian with ID 73 is 12.4 meters away at (2.9, 12.0). A vehicle with ID 83 is 15.1 meters away at (14.2, -5.1). A vehicle with ID 52 is 19.8 meters away at (-17.0, -10.3). A vehicle with ID 81 is 23.7 meters away at (-7.0, -22.7). A vehicle with ID 38 is 24.8 meters away at (-20.1, -14.5). A vehicle with ID 21 is 27.6 meters away at (-21.8, -16.9). A vehicle with ID 17 is 28.2 meters away at (-10.1, -26.3).

The vehicle with ID 78 is traveling at a (x, y) velocity of [-2.3747258  2.0224147] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.4743257  2.0778017] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.10082872 0.1363699 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-3.020166   2.5350637] m/s.The vehicle with ID 52 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 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 (-8.4, 4.9) m/s. Its current heading (yaw) is 2.62 radians with an angular velocity of 2.62 rad/s.

The most relevant actors are: A unknown object with ID 107 is 4.7 meters away at (4.7, -0.5). A unknown object with ID 91 is 5.1 meters away at (-3.2, 4.0). A pedestrian with ID 112 is 5.5 meters away at (3.3, 4.4). A unknown object with ID 64 is 5.7 meters away at (-1.8, -5.4). A pedestrian with ID 111 is 5.9 meters away at (4.1, 4.3). A pedestrian with ID 114 is 6.0 meters away at (1.1, 5.9). A pedestrian with ID 110 is 6.3 meters away at (5.4, 3.4). A pedestrian with ID 109 is 6.8 meters away at (4.1, 5.4). A pedestrian with ID 113 is 8.2 meters away at (-0.6, 8.2). A pedestrian with ID 103 is 9.5 meters away at (9.2, 2.2).

The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 112 is traveling at a (x, y) velocity of [ 0.9059226 -0.6091376] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.93739617 -0.6279141 ] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [ 0.9242152 -0.6112647] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.94049037 -0.5237903 ] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-1.1909283  0.6738917] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-1.4894917   0.83599776] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [-1.4680096  0.8378955] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.8) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A unknown object with ID 117 is 4.2 meters away at (4.0, 1.2). A pedestrian with ID 116 is 5.1 meters away at (2.5, 4.4). A unknown object with ID 52 is 6.8 meters away at (-4.4, -5.2). A unknown object with ID 69 is 6.9 meters away at (6.3, -2.7). A pedestrian with ID 113 is 10.1 meters away at (10.0, 0.5). A unknown object with ID 49 is 10.3 meters away at (3.4, -9.7). A pedestrian with ID 115 is 11.1 meters away at (-2.5, -10.8). A vehicle with ID 45 is 11.5 meters away at (-9.9, 5.9). A unknown object with ID 91 is 11.6 meters away at (10.4, -5.1). A pedestrian with ID 109 is 15.4 meters away at (15.2, -2.2).

The unknown object with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [-0.88607734  0.57054114] 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [-1.3636136  0.788441 ] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-1.3104736  0.9030038] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.462746   1.7835095] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 109 is traveling at a (x, y) velocity of [-1.26871    0.6899846] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 6.1) m/s. Its current heading (yaw) is 2.33 radians with an angular velocity of 2.33 rad/s.

The most relevant actors are: A vehicle with ID 45 is 3.3 meters away at (-1.8, -2.7). A pedestrian with ID 116 is 13.1 meters away at (11.9, -5.5). A vehicle with ID 101 is 15.5 meters away at (-15.5, -1.1). A pedestrian with ID 123 is 16.0 meters away at (-5.9, -14.8). A unknown object with ID 52 is 17.1 meters away at (6.4, -15.9). A unknown object with ID 117 is 17.6 meters away at (14.8, -9.5). A pedestrian with ID 127 is 18.7 meters away at (-7.1, -17.4). A pedestrian with ID 51 is 19.3 meters away at (-19.2, 1.8). A pedestrian with ID 125 is 19.7 meters away at (-5.5, -18.9). A pedestrian with ID 126 is 19.7 meters away at (-6.2, -18.7).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 116 is traveling at a (x, y) velocity of [-0.44336492  0.17893584] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 123 is traveling at a (x, y) velocity of [ 0.00195586 -0.01980463] 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 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 127 is traveling at a (x, y) velocity of [0.91470027 0.5498089 ] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [ 0.0116508 -0.0139379] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.6844333  0.82689637] m/s.The pedestrian with ID 126 is traveling at a (x, y) velocity of [0.71956134 0.7306941 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.7, 7.2) m/s. Its current heading (yaw) is 2.24 radians with an angular velocity of 2.24 rad/s.

The most relevant actors are: A vehicle with ID 34 is 8.0 meters away at (-1.7, 7.8). A pedestrian with ID 41 is 11.0 meters away at (8.1, 7.3). A pedestrian with ID 73 is 11.2 meters away at (-2.1, 11.0). A pedestrian with ID 97 is 12.3 meters away at (-8.8, -8.6). A pedestrian with ID 39 is 12.8 meters away at (-8.7, -9.4). A pedestrian with ID 46 is 12.9 meters away at (4.4, 12.2). A pedestrian with ID 98 is 13.1 meters away at (-8.3, -10.1). A vehicle with ID 40 is 13.8 meters away at (-13.7, 1.6). A pedestrian with ID 51 is 13.8 meters away at (-7.7, -11.4). A vehicle with ID 29 is 14.7 meters away at (-5.8, 13.4).

The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.6245279 -0.774278 ] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [0.9366363  0.22803478] m/s.The pedestrian with ID 97 is traveling at a (x, y) velocity of [-0.0098137   0.01056338] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01508962  0.00145112] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.01489273 -0.00196122] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.01133924  0.00837204] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 3.9464033 -5.2991385] m/s.The pedestrian with ID 51 is traveling at a (x, y) velocity of [-0.0019411   0.00456611] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 6.2) m/s. Its current heading (yaw) is 1.22 radians with an angular velocity of 1.22 rad/s.

The most relevant actors are: A pedestrian with ID 49 is 24.9 meters away at (-0.6, 24.9). A vehicle with ID 41 is 29.2 meters away at (-23.4, -17.4). A vehicle with ID 43 is 30.8 meters away at (-6.4, -30.1). A vehicle with ID 54 is 32.7 meters away at (12.1, -30.3). A vehicle with ID 46 is 33.1 meters away at (-22.3, -24.5). A vehicle with ID 42 is 36.0 meters away at (7.3, -35.3). A vehicle with ID 45 is 37.8 meters away at (2.4, -37.8). A vehicle with ID 50 is 43.4 meters away at (-36.2, -24.0). A vehicle with ID 37 is 45.4 meters away at (18.2, 41.6). A unknown object with ID 33 is 46.6 meters away at (23.4, 40.3).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.37273365 1.2672387 ] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-9.720468   3.3611145] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [ 5.785184  -1.9885359] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [-8.846067   2.6609173] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 6.365623  -2.1657646] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.9050026 -2.0731566] m/s.The vehicle with ID 45 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 37 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 6.6) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 26 is 13.9 meters away at (13.9, -0.0). A pedestrian with ID 49 is 15.1 meters away at (-4.2, 14.5). A vehicle with ID 35 is 17.4 meters away at (17.4, -0.4). A vehicle with ID 36 is 23.2 meters away at (22.9, -4.1). A vehicle with ID 37 is 31.9 meters away at (13.7, 28.8). A vehicle with ID 54 is 37.7 meters away at (-10.0, -36.4). A vehicle with ID 39 is 38.0 meters away at (15.9, 34.5). A vehicle with ID 46 is 44.1 meters away at (-14.8, -41.5). A vehicle with ID 45 is 50.6 meters away at (-2.1, -50.6). A vehicle with ID 55 is 68.7 meters away at (-28.0, -62.7).

The vehicle with ID 26 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 [0.45586073 1.3488972 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 [-9.083846   3.1719189] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 5.9517817 -2.0684032] m/s.The vehicle with ID 45 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.2) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A pedestrian with ID 49 is 8.9 meters away at (-7.8, 4.2). A vehicle with ID 26 is 15.9 meters away at (9.6, -12.7). A vehicle with ID 35 is 18.5 meters away at (13.0, -13.1). A vehicle with ID 37 is 18.6 meters away at (9.3, 16.2). A vehicle with ID 39 is 24.6 meters away at (11.5, 21.8). A vehicle with ID 3 is 53.9 meters away at (14.6, 51.9). A vehicle with ID 46 is 58.7 meters away at (-7.7, -58.2). A vehicle with ID 22 is 59.1 meters away at (-31.0, -50.3). A vehicle with ID 9 is 64.1 meters away at (24.4, 59.3).

The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.30348736 1.2074028 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.1848617 -3.1656437] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ 5.4995265 -1.8447201] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.642657 -2.374105] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.7) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 37 is 6.7 meters away at (5.1, 4.3). A vehicle with ID 39 is 12.2 meters away at (7.3, 9.8). A pedestrian with ID 49 is 12.6 meters away at (-11.2, -5.8). A vehicle with ID 24 is 33.9 meters away at (-2.6, 33.8). A vehicle with ID 3 is 35.3 meters away at (8.3, 34.3). A vehicle with ID 9 is 51.5 meters away at (20.2, 47.4). A vehicle with ID 31 is 63.6 meters away at (-23.9, -59.0). A vehicle with ID 22 is 70.3 meters away at (-22.1, -66.8).

The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [0.12848052 0.6802764 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.6191375 -4.4871063] m/s.The vehicle with ID 9 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 [-9.221747   3.1786776] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 6.365794  -2.1217196] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -6.0) m/s. Its current heading (yaw) is -2.01 radians with an angular velocity of -2.01 rad/s.

The most relevant actors are: A unknown object with ID 127 is 10.6 meters away at (-10.1, 3.1). A unknown object with ID 124 is 11.0 meters away at (-9.6, 5.4). A pedestrian with ID 111 is 11.1 meters away at (0.3, -11.1). A unknown object with ID 123 is 12.2 meters away at (-8.9, 8.3). A unknown object with ID 119 is 13.6 meters away at (-8.4, 10.6). A unknown object with ID 118 is 14.9 meters away at (-7.6, 12.9). A unknown object with ID 116 is 16.1 meters away at (-6.9, 14.6). A pedestrian with ID 122 is 17.4 meters away at (-9.6, 14.5). A unknown object with ID 109 is 17.7 meters away at (-17.6, 1.2). A unknown object with ID 117 is 19.0 meters away at (-6.0, 18.0).

The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.10833729  0.23143946] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 116 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 122 is traveling at a (x, y) velocity of [-0.63799894 -1.4378752 ] m/s.The unknown object with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 117 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 (-2.5, -5.6) m/s. Its current heading (yaw) is -2.00 radians with an angular velocity of -2.00 rad/s.

The most relevant actors are: A pedestrian with ID 111 is 5.3 meters away at (5.1, 1.3). A unknown object with ID 127 is 15.5 meters away at (-4.7, 14.7). A unknown object with ID 124 is 17.5 meters away at (-4.2, 17.0). A unknown object with ID 112 is 19.3 meters away at (-16.3, -10.4). A unknown object with ID 123 is 20.2 meters away at (-3.6, 19.9). A pedestrian with ID 20 is 20.5 meters away at (-17.3, -11.0). A unknown object with ID 113 is 20.6 meters away at (-16.9, -11.8). A unknown object with ID 18 is 21.4 meters away at (-17.6, -12.2). A unknown object with ID 107 is 21.7 meters away at (-18.0, -12.0). A unknown object with ID 119 is 22.4 meters away at (-3.0, 22.2).

The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.04103794  0.02921035] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 124 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.03693345  0.02958037] m/s.The unknown object with ID 113 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 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 119 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -5.3) m/s. Its current heading (yaw) is -1.99 radians with an angular velocity of -1.99 rad/s.

The most relevant actors are: A unknown object with ID 112 is 11.4 meters away at (-11.4, 0.3). A unknown object with ID 113 is 12.0 meters away at (-12.0, -1.0). A pedestrian with ID 20 is 12.5 meters away at (-12.5, -0.3). A unknown object with ID 18 is 12.8 meters away at (-12.7, -1.5). A unknown object with ID 69 is 13.5 meters away at (-13.4, 1.8). A unknown object with ID 73 is 13.7 meters away at (-13.6, 1.5). A unknown object with ID 99 is 14.4 meters away at (-14.4, -0.4). A pedestrian with ID 125 is 14.9 meters away at (-14.6, 2.8). A pedestrian with ID 111 is 15.7 meters away at (10.0, 12.1). A vehicle with ID 114 is 16.9 meters away at (-16.0, -5.3).

The unknown object with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.00844532  0.00295825] 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 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.6835655  0.96388596] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [ 0.00993023 -0.01276213] 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 (-2.3, -5.2) m/s. Its current heading (yaw) is -1.99 radians with an angular velocity of -1.99 rad/s.

The most relevant actors are: A vehicle with ID 31 is 9.3 meters away at (-8.9, -2.8). A unknown object with ID 113 is 11.7 meters away at (-7.5, 9.0). A unknown object with ID 18 is 11.8 meters away at (-8.2, 8.6). A pedestrian with ID 5 is 12.4 meters away at (-12.4, 0.4). A unknown object with ID 112 is 12.4 meters away at (-6.8, 10.4). A vehicle with ID 114 is 12.5 meters away at (-11.5, 4.8). A pedestrian with ID 20 is 12.6 meters away at (-7.9, 9.9). A unknown object with ID 92 is 13.4 meters away at (-13.3, -1.2). A pedestrian with ID 4 is 13.4 meters away at (-13.4, 1.1). A unknown object with ID 98 is 13.6 meters away at (-13.6, -0.2).

The vehicle with ID 31 is traveling at a (x, y) velocity of [2.707305  6.0689473] m/s.The unknown object with ID 113 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 [ 0.35641462 -0.55113167] m/s.The unknown object with ID 112 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.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.02339429 0.02333493] m/s.The unknown object with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [ 0.6213413  -0.77562815] m/s.The unknown object with ID 98 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 (-1.3, 1.1) 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 72 is 3.1 meters away at (3.1, -0.4). A unknown object with ID 73 is 4.1 meters away at (4.0, 0.8). A pedestrian with ID 80 is 17.2 meters away at (2.5, -17.0). A vehicle with ID 83 is 19.6 meters away at (-11.4, 15.9). A vehicle with ID 85 is 21.7 meters away at (-19.5, 9.5). A unknown object with ID 71 is 25.2 meters away at (-17.4, 18.3). A unknown object with ID 82 is 25.5 meters away at (3.0, -25.3). A unknown object with ID 32 is 26.9 meters away at (-18.9, 19.2). A vehicle with ID 55 is 28.8 meters away at (-25.1, -14.2). A unknown object with ID 59 is 29.1 meters away at (-10.0, 27.3).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [-0.02126035  0.06415031] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-0.8852509   0.14569509] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 3.4683988 -2.7397888] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 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 (-0.8, 0.7) 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 72 is 4.9 meters away at (4.6, -1.6). A unknown object with ID 73 is 5.5 meters away at (5.5, -0.4). A vehicle with ID 85 is 9.6 meters away at (-9.5, 1.5). A vehicle with ID 83 is 18.7 meters away at (-13.5, 12.9). A pedestrian with ID 80 is 18.7 meters away at (4.3, -18.3). A unknown object with ID 53 is 20.4 meters away at (-10.6, 17.5). A unknown object with ID 70 is 20.6 meters away at (-10.5, 17.7). A unknown object with ID 71 is 23.5 meters away at (-16.0, 17.2). A unknown object with ID 32 is 25.2 meters away at (-17.5, 18.1). A vehicle with ID 55 is 28.1 meters away at (-23.6, -15.3).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 5.228436  -4.1272125] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [-1.5057111 -2.2888286] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.4535813 -0.3191451] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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, 1.1) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A unknown object with ID 72 is 7.4 meters away at (6.7, -3.2). A unknown object with ID 73 is 7.8 meters away at (7.5, -2.0). A vehicle with ID 85 is 10.3 meters away at (4.3, -9.4). A vehicle with ID 83 is 12.7 meters away at (-11.6, 5.1). A unknown object with ID 53 is 17.8 meters away at (-8.8, 15.5). A unknown object with ID 70 is 18.2 meters away at (-8.4, 16.1). A unknown object with ID 71 is 20.8 meters away at (-13.8, 15.6). A pedestrian with ID 80 is 21.1 meters away at (6.3, -20.1). A unknown object with ID 32 is 22.4 meters away at (-15.3, 16.4). A vehicle with ID 79 is 26.7 meters away at (-26.0, -6.4).

The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 6.5829473 -5.058762 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [ 1.9358906 -3.5241442] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [ 0.12227386 -0.16079773] m/s.The unknown object with ID 32 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, 2.9) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 83 is 5.8 meters away at (0.2, -5.8). A unknown object with ID 40 is 11.6 meters away at (10.9, -3.9). A unknown object with ID 53 is 12.4 meters away at (-4.1, 11.7). A unknown object with ID 70 is 12.9 meters away at (-3.8, 12.3). A unknown object with ID 72 is 13.3 meters away at (11.3, -7.0). A unknown object with ID 73 is 13.5 meters away at (12.2, -5.8). A unknown object with ID 71 is 14.9 meters away at (-9.2, 11.7). A unknown object with ID 32 is 16.5 meters away at (-10.7, 12.6). A vehicle with ID 79 is 23.7 meters away at (-21.4, -10.2). A vehicle with ID 33 is 25.2 meters away at (6.5, 24.4).

The vehicle with ID 83 is traveling at a (x, y) velocity of [ 4.8408437 -3.6731565] 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 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, 3.5) 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 unknown object with ID 48 is 5.6 meters away at (-1.2, -5.5). A unknown object with ID 50 is 5.8 meters away at (-3.9, -4.2). A unknown object with ID 47 is 6.5 meters away at (1.1, -6.4). A unknown object with ID 52 is 7.7 meters away at (-7.1, -3.0). A unknown object with ID 45 is 8.1 meters away at (3.4, -7.4). A unknown object with ID 40 is 9.4 meters away at (4.8, -8.0). A unknown object with ID 39 is 10.7 meters away at (6.3, -8.7). A unknown object with ID 53 is 11.1 meters away at (-11.0, -1.5). A unknown object with ID 54 is 14.7 meters away at (-14.7, -0.0). A vehicle with ID 15 is 14.8 meters away at (13.7, -5.6).

The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 45 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 39 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 unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.9508686  2.930375 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.7) 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 unknown object with ID 54 is 7.4 meters away at (2.0, -7.1). A unknown object with ID 53 is 10.3 meters away at (5.7, -8.5). A unknown object with ID 52 is 13.8 meters away at (9.5, -10.0). A unknown object with ID 50 is 17.1 meters away at (12.8, -11.3). A vehicle with ID 15 is 18.0 meters away at (16.6, -7.0). A unknown object with ID 48 is 20.0 meters away at (15.5, -12.6). A unknown object with ID 47 is 22.4 meters away at (17.8, -13.5). A unknown object with ID 22 is 22.4 meters away at (-22.1, 3.6). A unknown object with ID 45 is 24.8 meters away at (20.1, -14.5). A unknown object with ID 40 is 26.3 meters away at (21.5, -15.1).

The unknown object with ID 54 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 unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.066829   3.0242321] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 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.

Instruction: Continue straight.


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 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A unknown object with ID 22 is 6.0 meters away at (-4.5, -4.0). A unknown object with ID 37 is 10.1 meters away at (-9.6, -3.1). A vehicle with ID 15 is 21.5 meters away at (19.8, -8.3). A unknown object with ID 54 is 24.4 meters away at (19.6, -14.6). A unknown object with ID 53 is 28.3 meters away at (23.3, -16.1). A unknown object with ID 52 is 32.3 meters away at (27.1, -17.6). A vehicle with ID 31 is 35.8 meters away at (-0.2, 35.8). A unknown object with ID 50 is 35.8 meters away at (30.4, -18.9). A unknown object with ID 48 is 38.8 meters away at (33.1, -20.1). A pedestrian with ID 28 is 40.7 meters away at (0.5, 40.7).

The unknown object with ID 22 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 vehicle with ID 15 is traveling at a (x, y) velocity of [-7.406185   3.2555797] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.263464  -0.3050581] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.00375458 -0.00479164] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, 3.7) 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 unknown object with ID 37 is 13.0 meters away at (7.7, -10.5). A unknown object with ID 22 is 17.2 meters away at (12.8, -11.4). A vehicle with ID 15 is 23.9 meters away at (22.1, -9.2). A vehicle with ID 31 is 32.6 meters away at (18.7, 26.8). A unknown object with ID 54 is 43.1 meters away at (37.0, -22.0). A unknown object with ID 52 is 51.0 meters away at (44.5, -25.0). A unknown object with ID 50 is 54.5 meters away at (47.8, -26.2). A unknown object with ID 48 is 57.5 meters away at (50.5, -27.4). A vehicle with ID 5 is 57.9 meters away at (-57.5, 7.1). A unknown object with ID 47 is 60.0 meters away at (52.9, -28.4).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-7.710732   3.3925445] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 1.1873711 -1.3982357] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, -5.3) m/s. Its current heading (yaw) is -2.47 radians with an angular velocity of -2.47 rad/s.

The most relevant actors are: A unknown object with ID 18 is 6.7 meters away at (-6.6, -1.3). A vehicle with ID 23 is 7.4 meters away at (3.3, -6.6). A unknown object with ID 24 is 15.5 meters away at (12.1, -9.6). A vehicle with ID 4 is 26.8 meters away at (-20.8, -17.0). A vehicle with ID 22 is 30.9 meters away at (8.7, 29.7). A vehicle with ID 26 is 36.8 meters away at (36.5, -4.1). A unknown object with ID 6 is 45.6 meters away at (-26.4, -37.2). A vehicle with ID 27 is 56.8 meters away at (-9.4, 56.0). A vehicle with ID 29 is 63.1 meters away at (-14.3, 61.4). A vehicle with ID 21 is 63.6 meters away at (56.6, -29.0).

The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-8.740722 -7.06481 ] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-7.9452505  9.000622 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-8.184737 10.067463] m/s.The unknown object with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 [-7.9795675 10.297659 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, -6.2) 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 23 is 18.0 meters away at (17.3, 4.8). A unknown object with ID 24 is 26.2 meters away at (26.1, 1.9). A vehicle with ID 4 is 32.0 meters away at (-24.7, -20.2). A vehicle with ID 26 is 43.8 meters away at (33.7, 28.0). A vehicle with ID 11 is 53.8 meters away at (2.1, 53.7). A vehicle with ID 21 is 55.3 meters away at (55.3, 2.0). A vehicle with ID 22 is 60.6 meters away at (6.0, 60.3). A vehicle with ID 27 is 67.6 meters away at (4.8, 67.4). A vehicle with ID 5 is 70.4 meters away at (69.6, -10.7). A vehicle with ID 9 is 71.5 meters away at (69.6, -16.4).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-9.463803 -7.677715] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-8.877901 10.619311] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.235555 -7.119997] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.74178   9.789522] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [-8.686135  9.992175] m/s.The vehicle with ID 27 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 [-4.648459   5.5246973] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.4809957  9.162261 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.6, -6.7) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 4 is 36.3 meters away at (-27.7, -23.5). A vehicle with ID 23 is 38.3 meters away at (33.9, 17.8). A unknown object with ID 24 is 45.3 meters away at (42.8, 14.9). A vehicle with ID 21 is 65.9 meters away at (56.3, 34.2). A vehicle with ID 9 is 71.9 meters away at (69.9, 16.8). A vehicle with ID 5 is 75.9 meters away at (73.9, 17.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.18976   -8.279755] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [-7.7701297  9.344881 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-8.390945 10.298386] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.323839   7.9488783] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -7.0) m/s. Its current heading (yaw) is -2.45 radians with an angular velocity of -2.45 rad/s.

The most relevant actors are: A vehicle with ID 4 is 41.2 meters away at (-31.8, -26.2). A vehicle with ID 13 is 47.4 meters away at (-38.8, -27.3). A vehicle with ID 23 is 59.7 meters away at (50.8, 31.4).

The vehicle with ID 4 is traveling at a (x, y) velocity of [-10.83478   -8.351414] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.41800734 0.41210172] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A vehicle with ID 22 is 18.3 meters away at (9.0, -16.0). A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 30 is 21.8 meters away at (-18.7, 11.1). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.2 meters away at (29.3, 10.9). A vehicle with ID 4 is 32.5 meters away at (31.6, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A vehicle with ID 20 is 41.4 meters away at (38.2, 15.9). A pedestrian with ID 11 is 43.1 meters away at (-42.5, 6.9).

The vehicle with ID 22 is traveling at a (x, y) velocity of [10.64881  -8.823125] m/s.The vehicle with ID 24 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 [10.489691 -8.746551] m/s.The vehicle with ID 23 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 pedestrian with ID 11 is traveling at a (x, y) velocity of [1.3471315  0.30791602] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A vehicle with ID 30 is 6.3 meters away at (1.8, -6.1). A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.2 meters away at (29.3, 10.9). A vehicle with ID 4 is 32.5 meters away at (31.6, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A pedestrian with ID 11 is 40.4 meters away at (-39.9, 6.8). A vehicle with ID 20 is 41.4 meters away at (38.2, 16.0). A vehicle with ID 22 is 45.6 meters away at (30.4, -34.0).

The vehicle with ID 30 is traveling at a (x, y) velocity of [10.309024 -8.674787] m/s.The vehicle with ID 24 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2534237  -0.42662284] m/s.The vehicle with ID 20 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 [10.906484 -9.326401] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A vehicle with ID 24 is 21.3 meters away at (-10.6, 18.5). A vehicle with ID 10 is 23.4 meters away at (-21.5, 9.3). A vehicle with ID 23 is 23.9 meters away at (23.6, 3.7). A vehicle with ID 17 is 27.0 meters away at (26.9, 2.4). A vehicle with ID 21 is 31.3 meters away at (29.3, 11.0). A vehicle with ID 30 is 32.3 meters away at (22.4, -23.3). A vehicle with ID 4 is 32.5 meters away at (31.5, 7.8). A unknown object with ID 26 is 34.6 meters away at (33.1, -9.9). A pedestrian with ID 11 is 37.8 meters away at (-37.4, 5.6). A vehicle with ID 20 is 41.4 meters away at (38.1, 16.0).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 13.584617 -11.219024] m/s.The vehicle with ID 23 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 21 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 [10.343939 -8.723511] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 1.2070265 -0.6135579] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching