The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 5.6) m/s. Its current heading (yaw) is 1.54 radians with an angular velocity of 1.54 rad/s.

The most relevant actors are: A vehicle with ID 75 is 9.4 meters away at (-3.1, 8.9). A cyclist with ID 71 is 10.8 meters away at (-0.1, -10.8). A vehicle with ID 76 is 12.0 meters away at (5.2, -10.8). A vehicle with ID 73 is 15.0 meters away at (4.5, -14.3). A vehicle with ID 74 is 15.8 meters away at (-1.4, 15.7). A vehicle with ID 82 is 15.8 meters away at (-13.2, -8.7). A vehicle with ID 78 is 22.4 meters away at (11.1, -19.4). A vehicle with ID 77 is 22.4 meters away at (11.1, -19.5). A vehicle with ID 85 is 25.9 meters away at (-25.5, -4.1). A vehicle with ID 80 is 28.9 meters away at (19.1, -21.7).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-4.697490e-05 -1.184561e-02] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-3.6001282  2.5872812] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 5.6820307 -2.6314654] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 4.777273  -1.8286728] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [-1.4322069  1.205306 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 5.8) m/s. Its current heading (yaw) is 0.98 radians with an angular velocity of 0.98 rad/s.

The most relevant actors are: A vehicle with ID 74 is 7.0 meters away at (-5.6, 4.1). A vehicle with ID 75 is 7.8 meters away at (-7.3, -2.7). A vehicle with ID 76 is 18.9 meters away at (-9.2, -16.6). A vehicle with ID 72 is 20.9 meters away at (7.1, 19.6). A cyclist with ID 71 is 22.5 meters away at (-5.4, -21.8). A vehicle with ID 37 is 25.1 meters away at (18.0, 17.5). A vehicle with ID 73 is 26.0 meters away at (0.1, -26.0). A vehicle with ID 70 is 26.3 meters away at (10.8, 23.9). A vehicle with ID 85 is 27.3 meters away at (-17.7, -20.7). A vehicle with ID 82 is 28.0 meters away at (-5.0, -27.5).

The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-6.282074   2.9005976] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 71 is traveling at a (x, y) velocity of [-1.0347073  0.6044453] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 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 [ 7.18542  -3.270384] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [ 6.7879195 -4.563207 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.3) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 72 is 7.7 meters away at (-2.1, 7.4). A vehicle with ID 37 is 10.2 meters away at (8.7, 5.3). A vehicle with ID 70 is 11.8 meters away at (1.5, 11.7). A vehicle with ID 36 is 16.3 meters away at (12.8, 10.0). A vehicle with ID 74 is 16.9 meters away at (-14.9, -8.1). A vehicle with ID 75 is 22.3 meters away at (-16.6, -14.9). A vehicle with ID 35 is 22.4 meters away at (16.8, 14.9). A vehicle with ID 67 is 22.7 meters away at (9.2, 20.7). A vehicle with ID 66 is 28.3 meters away at (12.9, 25.1). A vehicle with ID 68 is 34.6 meters away at (17.0, 30.1).

The vehicle with ID 72 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 70 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 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 6.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 36 is 3.4 meters away at (2.6, -2.2). A vehicle with ID 37 is 6.8 meters away at (-1.4, -6.7). A vehicle with ID 35 is 7.0 meters away at (6.5, 2.6). A vehicle with ID 67 is 8.6 meters away at (-1.0, 8.5). A vehicle with ID 70 is 8.7 meters away at (-8.7, -0.4). A vehicle with ID 66 is 13.2 meters away at (2.6, 12.9). A vehicle with ID 72 is 13.2 meters away at (-12.4, -4.8). A vehicle with ID 68 is 19.1 meters away at (6.7, 17.8). A vehicle with ID 34 is 19.1 meters away at (14.8, 12.0). A vehicle with ID 69 is 25.0 meters away at (10.7, 22.6).

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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 (3.5, -2.9) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A unknown object with ID 19 is 7.8 meters away at (-4.7, -6.2). A unknown object with ID 20 is 17.5 meters away at (14.9, -9.2). A vehicle with ID 18 is 19.7 meters away at (-13.9, 14.0). A unknown object with ID 22 is 31.0 meters away at (12.9, -28.2). A unknown object with ID 23 is 32.3 meters away at (11.0, -30.4). A vehicle with ID 21 is 38.2 meters away at (-32.9, 19.6). A unknown object with ID 24 is 48.1 meters away at (-42.3, 23.0). A vehicle with ID 27 is 77.3 meters away at (-62.3, 45.8).

The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 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 [-3.3008082  2.5803235] 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, -2.8) 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 unknown object with ID 20 is 9.0 meters away at (8.2, -3.5). A unknown object with ID 19 is 11.4 meters away at (-11.4, -0.6). A vehicle with ID 18 is 28.5 meters away at (-20.6, 19.7). A vehicle with ID 21 is 47.0 meters away at (-39.7, 25.2). A unknown object with ID 24 is 56.8 meters away at (-49.0, 28.7).

The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, -3.3) m/s. Its current heading (yaw) is -1.08 radians with an angular velocity of -1.08 rad/s.

The most relevant actors are: A unknown object with ID 20 is 3.7 meters away at (2.8, 2.3). A unknown object with ID 15 is 22.6 meters away at (-21.7, -6.3). A vehicle with ID 18 is 36.5 meters away at (-26.3, 25.4). A vehicle with ID 21 is 54.8 meters away at (-45.4, 30.8).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -3.5) m/s. Its current heading (yaw) is -1.67 radians with an angular velocity of -1.67 rad/s.

The most relevant actors are: A unknown object with ID 20 is 9.5 meters away at (1.2, 9.4). A unknown object with ID 12 is 37.2 meters away at (14.0, -34.4). A vehicle with ID 18 is 42.8 meters away at (-28.0, 32.3). A vehicle with ID 21 is 60.3 meters away at (-47.1, 37.7).

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

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 4.2) m/s. Its current heading (yaw) is 0.63 radians with an angular velocity of 0.63 rad/s.

The most relevant actors are: A vehicle with ID 114 is 6.8 meters away at (0.7, -6.7). A pedestrian with ID 109 is 11.1 meters away at (-5.5, -9.6). A vehicle with ID 112 is 11.3 meters away at (-0.7, -11.2). A vehicle with ID 110 is 12.0 meters away at (-5.2, -10.8). A pedestrian with ID 113 is 15.7 meters away at (-2.6, -15.5). A vehicle with ID 116 is 15.7 meters away at (12.5, 9.6). A pedestrian with ID 111 is 17.6 meters away at (-5.8, -16.6). A vehicle with ID 123 is 20.6 meters away at (19.2, 7.6). A pedestrian with ID 125 is 25.1 meters away at (14.2, 20.6). A vehicle with ID 49 is 26.3 meters away at (21.7, 14.9).

The vehicle with ID 114 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 [ 0.01113208 -0.02469581] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.1555806 0.6647715] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [5.6922317 3.4169855] m/s.The pedestrian with ID 111 is traveling at a (x, y) velocity of [-0.08755303 -0.05419236] m/s.The vehicle with ID 123 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 [1.1323042 0.5381076] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.7961607 2.980746 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, 3.9) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 123 is 7.3 meters away at (7.2, -0.5). A vehicle with ID 116 is 13.2 meters away at (10.7, 7.8). A pedestrian with ID 125 is 14.3 meters away at (4.4, 13.6). A vehicle with ID 114 is 18.6 meters away at (-11.2, -14.8). A vehicle with ID 49 is 22.2 meters away at (18.5, 12.3). A vehicle with ID 112 is 23.1 meters away at (-12.5, -19.4). A pedestrian with ID 109 is 24.9 meters away at (-17.5, -17.7). A pedestrian with ID 113 is 25.2 meters away at (-12.1, -22.1). A vehicle with ID 110 is 25.5 meters away at (-17.2, -18.9). A vehicle with ID 127 is 34.4 meters away at (28.9, 18.7).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [4.4565425 2.803281 ] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [1.1038778 0.6513018] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [4.2360835 2.7579613] m/s.The vehicle with ID 112 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 [-0.03655482  0.05591846] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.1199982 0.8367955] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 127 is traveling at a (x, y) velocity of [4.6395054 3.1698425] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.7, 2.4) m/s. Its current heading (yaw) is 0.41 radians with an angular velocity of 0.41 rad/s.

The most relevant actors are: A vehicle with ID 123 is 7.9 meters away at (-4.2, -6.7). A vehicle with ID 116 is 10.0 meters away at (7.4, 6.6). A pedestrian with ID 125 is 10.1 meters away at (-5.0, 8.7). A vehicle with ID 71 is 13.7 meters away at (9.6, -9.8). A vehicle with ID 74 is 17.0 meters away at (9.3, -14.3). A vehicle with ID 49 is 19.4 meters away at (15.6, 11.5). A vehicle with ID 114 is 30.8 meters away at (-22.5, -21.0). A pedestrian with ID 82 is 34.0 meters away at (-17.8, -29.0). A pedestrian with ID 113 is 34.1 meters away at (-21.0, -26.8). A vehicle with ID 112 is 35.0 meters away at (-23.9, -25.6).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 is traveling at a (x, y) velocity of [3.8946183 2.407915 ] m/s.The pedestrian with ID 125 is traveling at a (x, y) velocity of [0.98868346 0.7521429 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [3.86281  2.550251] m/s.The vehicle with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 82 is traveling at a (x, y) velocity of [1.0041159  0.89541143] m/s.The pedestrian with ID 113 is traveling at a (x, y) velocity of [1.175688  0.6793528] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, 3.4) m/s. Its current heading (yaw) is 0.49 radians with an angular velocity of 0.49 rad/s.

The most relevant actors are: A vehicle with ID 116 is 5.7 meters away at (1.9, 5.4). A vehicle with ID 49 is 14.3 meters away at (9.9, 10.4). A vehicle with ID 71 is 15.9 meters away at (-3.1, -15.6). A pedestrian with ID 125 is 16.3 meters away at (-15.7, 4.2). A vehicle with ID 52 is 20.7 meters away at (-16.9, -12.1). A vehicle with ID 123 is 20.9 meters away at (-17.0, -12.2). A vehicle with ID 38 is 25.4 meters away at (18.1, 17.9). A unknown object with ID 67 is 36.5 meters away at (35.8, 7.0). A unknown object with ID 106 is 36.7 meters away at (36.1, 6.8). A pedestrian with ID 31 is 36.8 meters away at (33.1, 16.0).

The vehicle with ID 116 is traveling at a (x, y) velocity of [3.3425035 2.028495 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [3.7686846 2.3865519] m/s.The vehicle with ID 71 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 [1.0494916  0.41147935] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [3.5491889 3.1972868] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 106 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 [ 0.00951347 -0.02546643] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -2.0) m/s. Its current heading (yaw) is -1.22 radians with an angular velocity of -1.22 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 5.6 meters away at (5.6, 0.7). A pedestrian with ID 6 is 7.0 meters away at (6.9, -0.9). A pedestrian with ID 7 is 7.3 meters away at (7.3, -0.2). A cyclist with ID 21 is 15.8 meters away at (-12.3, 9.9). A pedestrian with ID 1 is 28.2 meters away at (24.2, -14.4). A pedestrian with ID 22 is 34.7 meters away at (-30.3, 17.0). A pedestrian with ID 23 is 37.4 meters away at (-33.0, 17.6). A pedestrian with ID 26 is 37.6 meters away at (-35.7, -11.7). A pedestrian with ID 24 is 42.6 meters away at (-38.1, 19.1). A vehicle with ID 25 is 52.7 meters away at (-49.8, -17.2).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.5704741  -0.42469352] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.96269757 -0.5043966 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.0129474 -0.5208138] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [ 0.02195461 -0.01546032] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.02103163 -0.01251298] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.4115402  0.20725402] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.9286464   0.52344763] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03929475 0.04639857] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.2776883   0.23816255] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.2) m/s. Its current heading (yaw) is -1.03 radians with an angular velocity of -1.03 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 5.9 meters away at (4.8, 3.5). A pedestrian with ID 6 is 7.0 meters away at (6.8, 1.8). A pedestrian with ID 7 is 7.5 meters away at (7.1, 2.5). A cyclist with ID 21 is 19.8 meters away at (-14.2, 13.9). A pedestrian with ID 1 is 24.7 meters away at (22.3, -10.5). A pedestrian with ID 22 is 37.3 meters away at (-30.2, 21.8). A pedestrian with ID 26 is 38.4 meters away at (-37.7, -7.7). A pedestrian with ID 23 is 43.3 meters away at (-37.0, 22.4). A unknown object with ID 13 is 47.7 meters away at (44.5, -17.0). A pedestrian with ID 24 is 48.7 meters away at (-42.4, 23.9).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.75497544 -0.81296134] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.81057703 -0.7204436 ] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.78015536 -0.7453082 ] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00258516  0.0064306 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.02661366 0.01304275] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [1.118465  0.5277303] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00249804 -0.00882658] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2136288  0.2017872] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-1.279953   0.5218826] 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, -2.5) m/s. Its current heading (yaw) is -0.78 radians with an angular velocity of -0.78 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 6.9 meters away at (4.7, 5.0). A pedestrian with ID 18 is 7.6 meters away at (3.0, 7.0). A pedestrian with ID 7 is 7.7 meters away at (4.8, 6.0). A pedestrian with ID 1 is 19.4 meters away at (18.6, -5.6). A cyclist with ID 21 is 26.0 meters away at (-18.0, 18.8). A pedestrian with ID 26 is 41.6 meters away at (-41.5, -2.8). A pedestrian with ID 22 is 42.5 meters away at (-32.0, 27.9). A pedestrian with ID 15 is 43.5 meters away at (41.9, -11.9). A pedestrian with ID 23 is 51.1 meters away at (-43.1, 27.6). A vehicle with ID 25 is 55.9 meters away at (-55.3, -8.4).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.75084996 -0.8718028 ] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.9400157 -0.9761687] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.68267006 -0.83628374] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.03343805 -0.00684849] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [0.00201214 0.02338381] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.03534915 0.03867275] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.934964   0.88788074] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.11381388  0.05260929] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.0985404   0.38201362] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -1.7) m/s. Its current heading (yaw) is -0.42 radians with an angular velocity of -0.42 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 7.5 meters away at (-0.2, 7.5). A pedestrian with ID 7 is 8.8 meters away at (-0.5, 8.7). A pedestrian with ID 18 is 9.3 meters away at (-1.3, 9.2). A pedestrian with ID 1 is 12.2 meters away at (12.2, -1.2). A cyclist with ID 21 is 33.7 meters away at (-24.4, 23.2). A unknown object with ID 4 is 35.2 meters away at (34.4, -7.5). A pedestrian with ID 26 is 47.8 meters away at (-47.7, 1.5). A pedestrian with ID 22 is 50.3 meters away at (-37.0, 34.2). A pedestrian with ID 23 is 61.2 meters away at (-51.8, 32.6). A vehicle with ID 25 is 61.8 meters away at (-61.6, -3.9).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.8359296 -0.8091427] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 0.7395768  -0.89138764] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 1.0417216 -1.1561426] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01413102 0.00518524] m/s.The cyclist with ID 21 is traveling at a (x, y) velocity of [-0.00166104 -0.00989636] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.03218007 -0.03260683] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [0.5132748 1.1916677] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-1.2121187   0.30428565] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, -0.7) 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 20 is 8.8 meters away at (0.2, -8.8). A unknown object with ID 21 is 15.5 meters away at (-15.4, -1.7). A unknown object with ID 22 is 16.4 meters away at (-16.3, -2.0). A unknown object with ID 29 is 16.6 meters away at (5.7, -15.6). A unknown object with ID 31 is 17.2 meters away at (-17.0, 3.0). A vehicle with ID 19 is 17.8 meters away at (14.3, -10.6). A unknown object with ID 23 is 18.1 meters away at (-18.0, 1.9). A unknown object with ID 24 is 18.8 meters away at (-18.3, 4.3). A unknown object with ID 25 is 19.0 meters away at (-18.9, 1.1). A unknown object with ID 9 is 19.1 meters away at (-19.1, 0.9).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.4) m/s. Its current heading (yaw) is -0.76 radians with an angular velocity of -0.76 rad/s.

The most relevant actors are: A vehicle with ID 20 is 7.9 meters away at (-0.9, -7.8). A unknown object with ID 29 is 15.3 meters away at (4.6, -14.6). A vehicle with ID 19 is 16.3 meters away at (13.2, -9.6). A unknown object with ID 21 is 16.5 meters away at (-16.5, -0.6). A unknown object with ID 22 is 17.4 meters away at (-17.4, -1.0). A unknown object with ID 31 is 18.5 meters away at (-18.1, 4.1). A unknown object with ID 23 is 19.3 meters away at (-19.1, 2.9). A unknown object with ID 24 is 20.1 meters away at (-19.4, 5.2). A unknown object with ID 25 is 20.1 meters away at (-20.0, 2.1). A unknown object with ID 9 is 20.3 meters away at (-20.2, 2.0).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.5, -1.7) m/s. Its current heading (yaw) is -0.83 radians with an angular velocity of -0.83 rad/s.

The most relevant actors are: A vehicle with ID 20 is 6.5 meters away at (-2.8, -5.8). A unknown object with ID 29 is 12.9 meters away at (2.7, -12.6). A vehicle with ID 19 is 13.5 meters away at (11.2, -7.5). A vehicle with ID 32 is 15.6 meters away at (7.0, -14.0). A unknown object with ID 21 is 18.5 meters away at (-18.5, 1.4). A unknown object with ID 31 is 21.0 meters away at (-20.0, 6.1). A unknown object with ID 23 is 21.7 meters away at (-21.1, 5.1). A unknown object with ID 25 is 21.9 meters away at (-21.4, 4.8). A unknown object with ID 9 is 22.5 meters away at (-22.1, 4.1). A unknown object with ID 24 is 22.5 meters away at (-21.3, 7.3).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-2.5381877  2.065263 ] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 24 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, -2.7) 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 vehicle with ID 32 is 6.2 meters away at (-1.1, -6.1). A vehicle with ID 20 is 7.0 meters away at (-6.8, -1.4). A vehicle with ID 19 is 7.8 meters away at (7.2, -3.1). A cyclist with ID 11 is 25.4 meters away at (14.5, -20.9). A unknown object with ID 31 is 26.3 meters away at (-24.1, 10.6). A unknown object with ID 23 is 27.0 meters away at (-25.3, 9.4). A unknown object with ID 9 is 27.5 meters away at (-26.1, 8.6). A unknown object with ID 24 is 28.0 meters away at (-25.4, 11.8). A unknown object with ID 1 is 38.4 meters away at (31.1, -22.5). A unknown object with ID 8 is 51.4 meters away at (29.8, -41.8).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.2285404  1.035666 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 11 is traveling at a (x, y) velocity of [-0.03651115  0.04621272] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, 3.4) m/s. Its current heading (yaw) is 1.50 radians with an angular velocity of 1.50 rad/s.

The most relevant actors are: A unknown object with ID 85 is 11.8 meters away at (-10.6, 5.3). A vehicle with ID 86 is 15.3 meters away at (-11.4, -10.2). A vehicle with ID 87 is 17.8 meters away at (-12.0, -13.1). A vehicle with ID 82 is 19.4 meters away at (17.8, 7.7). A vehicle with ID 80 is 24.1 meters away at (23.2, 6.7). A vehicle with ID 90 is 31.9 meters away at (-26.1, -18.5). A vehicle with ID 95 is 32.4 meters away at (-30.8, 10.0). A pedestrian with ID 89 is 34.9 meters away at (5.3, -34.5). A vehicle with ID 92 is 36.4 meters away at (-31.5, -18.2). A vehicle with ID 94 is 40.1 meters away at (-26.0, -30.5).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01037349  0.02638477] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 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, 0.1) m/s. Its current heading (yaw) is 1.50 radians with an angular velocity of 1.50 rad/s.

The most relevant actors are: A unknown object with ID 85 is 11.1 meters away at (-10.9, 2.4). A vehicle with ID 86 is 17.5 meters away at (-11.7, -13.0). A vehicle with ID 82 is 18.2 meters away at (17.6, 4.7). A vehicle with ID 87 is 20.2 meters away at (-12.1, -16.1). A vehicle with ID 80 is 23.3 meters away at (23.0, 3.8). A vehicle with ID 36 is 24.0 meters away at (6.2, 23.2). A vehicle with ID 95 is 32.1 meters away at (-31.3, 7.1). A vehicle with ID 90 is 33.9 meters away at (-26.3, -21.4). A pedestrian with ID 89 is 37.7 meters away at (5.0, -37.4). A vehicle with ID 92 is 38.2 meters away at (-31.8, -21.1).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [-0.01824065  0.00643297] m/s.The vehicle with ID 92 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 (0.2, 1.6) 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 85 is 11.0 meters away at (-11.0, 1.3). A vehicle with ID 82 is 17.8 meters away at (17.5, 3.6). A vehicle with ID 86 is 18.5 meters away at (-11.8, -14.2). A vehicle with ID 87 is 21.1 meters away at (-12.2, -17.2). A vehicle with ID 80 is 23.0 meters away at (22.9, 2.8). A vehicle with ID 36 is 23.2 meters away at (6.2, 22.4). A vehicle with ID 95 is 32.0 meters away at (-31.4, 5.9). A vehicle with ID 107 is 33.6 meters away at (0.3, -33.6). A vehicle with ID 90 is 34.8 meters away at (-26.4, -22.7). A pedestrian with ID 89 is 38.8 meters away at (4.9, -38.5).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 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 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [-0.03087639  5.8836193 ] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [ 0.00412108 -0.0955679 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 3.9) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A unknown object with ID 85 is 14.3 meters away at (-13.2, -5.5). A vehicle with ID 82 is 15.5 meters away at (15.2, -2.8). A vehicle with ID 36 is 16.2 meters away at (3.7, 15.7). A vehicle with ID 80 is 20.9 meters away at (20.6, -3.6). A vehicle with ID 86 is 25.2 meters away at (-13.9, -21.0). A vehicle with ID 87 is 28.0 meters away at (-14.3, -24.0). A vehicle with ID 107 is 28.4 meters away at (-2.0, -28.3). A vehicle with ID 81 is 31.6 meters away at (-12.6, 29.0). A vehicle with ID 95 is 33.8 meters away at (-33.8, -0.9). A vehicle with ID 99 is 38.3 meters away at (38.1, -4.1).

The unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [-0.05765213  5.31545   ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [ 3.553014 -2.469172] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.5) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A vehicle with ID 75 is 3.2 meters away at (-2.7, 1.7). A vehicle with ID 77 is 7.3 meters away at (-0.7, 7.3). A vehicle with ID 78 is 13.7 meters away at (1.6, 13.6). A vehicle with ID 79 is 18.3 meters away at (10.6, 15.0). A vehicle with ID 23 is 18.9 meters away at (-2.4, -18.7). A vehicle with ID 80 is 20.0 meters away at (13.5, 14.8). A vehicle with ID 30 is 25.3 meters away at (14.1, -21.0). A vehicle with ID 81 is 28.0 meters away at (-26.1, -10.1). A vehicle with ID 45 is 28.3 meters away at (13.9, -24.6). A vehicle with ID 82 is 30.4 meters away at (-13.0, -27.5).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 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 23 is traveling at a (x, y) velocity of [3.5725095  0.10290665] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.190061   3.8471828] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.9) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 75 is 5.7 meters away at (-1.2, 5.6). A vehicle with ID 77 is 11.3 meters away at (0.9, 11.2). A vehicle with ID 45 is 17.7 meters away at (9.1, -15.2). A vehicle with ID 78 is 17.9 meters away at (3.3, 17.6). A vehicle with ID 23 is 19.6 meters away at (6.6, -18.5). A unknown object with ID 59 is 20.4 meters away at (0.1, -20.4). A vehicle with ID 79 is 22.5 meters away at (12.1, 18.9). A vehicle with ID 30 is 23.1 meters away at (15.6, -17.0). A vehicle with ID 80 is 23.9 meters away at (15.0, 18.6). A vehicle with ID 81 is 25.3 meters away at (-24.5, -6.1).

The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-1.8788172  1.5526296] m/s.The vehicle with ID 78 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 [ 4.1009107 -3.205543 ] m/s.The unknown object with ID 59 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 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 (0.9, -4.7) m/s. Its current heading (yaw) is -1.38 radians with an angular velocity of -1.38 rad/s.

The most relevant actors are: A vehicle with ID 45 is 11.0 meters away at (8.7, -6.8). A vehicle with ID 75 is 13.0 meters away at (0.1, 13.0). A vehicle with ID 18 is 16.3 meters away at (-16.2, 1.3). A vehicle with ID 77 is 18.7 meters away at (2.1, 18.6). A vehicle with ID 76 is 19.2 meters away at (14.6, -12.5). A vehicle with ID 82 is 19.2 meters away at (-10.6, -16.1). A vehicle with ID 30 is 19.3 meters away at (16.6, -9.9). A vehicle with ID 38 is 21.1 meters away at (-8.2, -19.4). A vehicle with ID 81 is 23.6 meters away at (-23.5, 1.4). A pedestrian with ID 60 is 23.7 meters away at (-14.5, -18.8).

The vehicle with ID 45 is traveling at a (x, y) velocity of [-0.24815409  0.22149855] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.5690687 -1.4300058] m/s.The vehicle with ID 77 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 [-1.1622454  0.9688226] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [1.8746585 5.4059258] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.43974146 -0.82531494] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.0, -4.4) 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 45 is 4.4 meters away at (1.2, 4.3). A vehicle with ID 76 is 7.8 meters away at (7.6, -1.8). A vehicle with ID 30 is 10.6 meters away at (10.6, -0.2). A vehicle with ID 38 is 12.0 meters away at (-11.6, -2.9). A vehicle with ID 84 is 15.5 meters away at (2.6, -15.3). A vehicle with ID 21 is 16.9 meters away at (16.1, -5.1). A vehicle with ID 82 is 17.7 meters away at (-16.5, -6.6). A vehicle with ID 87 is 17.8 meters away at (4.9, -17.1). A vehicle with ID 18 is 19.2 meters away at (-17.1, 8.7). A pedestrian with ID 89 is 20.6 meters away at (-7.0, -19.4).

The vehicle with ID 45 is traveling at a (x, y) velocity of [-2.0650938  1.6873227] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.98798496  0.8709928 ] m/s.The vehicle with ID 30 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 [0.71919453 1.7007498 ] m/s.The vehicle with ID 84 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 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 2.1277468 -0.9010066] m/s.The pedestrian with ID 89 is traveling at a (x, y) velocity of [0.31187484 0.43221506] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.9, 4.3) m/s. Its current heading (yaw) is 2.65 radians with an angular velocity of 2.65 rad/s.

The most relevant actors are: A vehicle with ID 1 is 19.9 meters away at (17.0, -10.4). A vehicle with ID 29 is 34.8 meters away at (31.9, -14.0). A vehicle with ID 30 is 54.5 meters away at (45.9, -29.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.496327   2.5112798] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-9.0805645 -8.7809   ] m/s.The vehicle with ID 30 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 (-8.5, 4.3) m/s. Its current heading (yaw) is 2.68 radians with an angular velocity of 2.68 rad/s.

The most relevant actors are: A vehicle with ID 1 is 25.7 meters away at (22.9, -11.7). A vehicle with ID 29 is 51.3 meters away at (30.0, -41.6). A vehicle with ID 30 is 73.1 meters away at (62.5, -37.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.7842145  3.6252635] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -9.226283 -10.273384] m/s.The vehicle with ID 30 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 (-7.4, 6.0) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A unknown object with ID 27 is 30.5 meters away at (-7.7, -29.5). A vehicle with ID 1 is 30.6 meters away at (26.5, -15.3). A vehicle with ID 23 is 62.3 meters away at (-49.1, 38.4). A vehicle with ID 29 is 77.7 meters away at (27.8, -72.6). A vehicle with ID 28 is 80.7 meters away at (30.7, -74.6).

The unknown object with ID 27 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 [-6.883476   3.1668353] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [ 5.0685678 -4.5731463] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ -8.997786 -10.430889] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.596709 10.91919 ] 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, 5.8) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 23 is 27.8 meters away at (-22.9, 15.7). A vehicle with ID 1 is 32.9 meters away at (26.0, -20.2). A vehicle with ID 26 is 68.2 meters away at (-68.2, 0.4). A unknown object with ID 11 is 68.2 meters away at (-67.5, 9.7). A vehicle with ID 22 is 68.3 meters away at (-68.3, 0.3).

The vehicle with ID 23 is traveling at a (x, y) velocity of [ 6.9260116 -6.291183 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.56627   4.317692] m/s.The vehicle with ID 26 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 vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 0.8) m/s. Its current heading (yaw) is 2.87 radians with an angular velocity of 2.87 rad/s.

The most relevant actors are: A vehicle with ID 69 is 3.1 meters away at (-0.1, 3.1). A unknown object with ID 63 is 7.0 meters away at (-0.8, -6.9). A unknown object with ID 61 is 7.2 meters away at (1.8, -6.9). A unknown object with ID 65 is 7.8 meters away at (-3.2, -7.1). A vehicle with ID 59 is 10.1 meters away at (9.6, 3.2). A vehicle with ID 16 is 14.3 meters away at (-4.0, -13.7). A vehicle with ID 64 is 14.7 meters away at (14.6, 1.4). A vehicle with ID 17 is 17.2 meters away at (-4.1, -16.7). A vehicle with ID 62 is 18.1 meters away at (16.4, -7.8). A vehicle with ID 85 is 18.6 meters away at (-18.1, -4.4).

The vehicle with ID 69 is traveling at a (x, y) velocity of [-11.208712   3.846306] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 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 64 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 62 is traveling at a (x, y) velocity of [ 8.071701  -1.7541623] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [ 1.8233994 -5.263258 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, -1.5) m/s. Its current heading (yaw) is -2.82 radians with an angular velocity of -2.82 rad/s.

The most relevant actors are: A unknown object with ID 65 is 8.5 meters away at (4.4, -7.2). A unknown object with ID 63 is 9.9 meters away at (6.8, -7.1). A unknown object with ID 61 is 11.8 meters away at (9.4, -7.1). A vehicle with ID 16 is 14.3 meters away at (3.5, -13.9). A vehicle with ID 17 is 17.2 meters away at (3.4, -16.9). A vehicle with ID 59 is 17.5 meters away at (17.3, 2.9). A vehicle with ID 69 is 18.9 meters away at (-15.6, 10.7). A vehicle with ID 18 is 19.3 meters away at (2.5, -19.2). A vehicle with ID 85 is 19.3 meters away at (-11.2, -15.8). A vehicle with ID 74 is 20.5 meters away at (6.6, 19.4).

The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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.The vehicle with ID 59 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 [-12.202497    3.8966243] m/s.The vehicle with ID 18 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 [-1.9814564 -5.7167835] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -4.9) m/s. Its current heading (yaw) is -2.10 radians with an angular velocity of -2.10 rad/s.

The most relevant actors are: A unknown object with ID 65 is 12.0 meters away at (12.0, -0.5). A vehicle with ID 16 is 13.2 meters away at (11.2, -7.1). A vehicle with ID 58 is 13.6 meters away at (-7.9, -11.1). A unknown object with ID 63 is 14.5 meters away at (14.5, -0.3). A vehicle with ID 17 is 15.0 meters away at (11.1, -10.1). A vehicle with ID 18 is 16.1 meters away at (10.2, -12.4). A unknown object with ID 61 is 17.0 meters away at (17.0, -0.4). A vehicle with ID 12 is 18.7 meters away at (8.0, -17.0). A vehicle with ID 57 is 20.6 meters away at (-10.3, -17.9). A vehicle with ID 32 is 20.8 meters away at (7.3, -19.5).

The unknown object with ID 65 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -5.1) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 58 is 3.8 meters away at (-3.7, -0.8). A vehicle with ID 57 is 9.7 meters away at (-6.1, -7.5). A vehicle with ID 12 is 13.9 meters away at (12.2, -6.7). A vehicle with ID 18 is 14.4 meters away at (14.2, -2.1). A vehicle with ID 32 is 14.7 meters away at (11.5, -9.2). A vehicle with ID 17 is 15.2 meters away at (15.2, 0.2). A vehicle with ID 16 is 15.5 meters away at (15.2, 3.1). A unknown object with ID 65 is 18.9 meters away at (16.1, 9.9). A unknown object with ID 63 is 21.1 meters away at (18.6, 10.0). A vehicle with ID 85 is 23.1 meters away at (-7.4, -21.9).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-0.32440215 -4.844826  ] 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, 1.7) m/s. Its current heading (yaw) is 2.83 radians with an angular velocity of 2.83 rad/s.

The most relevant actors are: A unknown object with ID 67 is 6.0 meters away at (-0.1, -6.0). A unknown object with ID 17 is 6.5 meters away at (-2.7, -6.0). A unknown object with ID 72 is 7.9 meters away at (-5.1, -6.1). A vehicle with ID 64 is 11.3 meters away at (6.2, -9.4). A vehicle with ID 63 is 17.9 meters away at (13.3, -12.0). A vehicle with ID 36 is 19.3 meters away at (-7.2, -17.9). A vehicle with ID 75 is 21.0 meters away at (-2.8, 20.8). A pedestrian with ID 62 is 21.1 meters away at (0.2, 21.1). A vehicle with ID 14 is 21.9 meters away at (-8.5, -20.2). A vehicle with ID 66 is 23.9 meters away at (19.5, -13.8).

The unknown object with ID 67 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 72 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 63 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 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.36430028 -1.2238666 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, -1.3) m/s. Its current heading (yaw) is -2.85 radians with an angular velocity of -2.85 rad/s.

The most relevant actors are: A unknown object with ID 72 is 8.3 meters away at (4.3, -7.1). A unknown object with ID 17 is 9.7 meters away at (6.7, -7.1). A unknown object with ID 67 is 11.7 meters away at (9.3, -7.1). A vehicle with ID 64 is 18.9 meters away at (15.6, -10.6). A vehicle with ID 36 is 19.1 meters away at (2.1, -19.0). A pedestrian with ID 62 is 20.0 meters away at (9.4, 17.6). A unknown object with ID 40 is 20.4 meters away at (-20.0, -4.0). A vehicle with ID 65 is 20.7 meters away at (-14.6, -14.6). A unknown object with ID 77 is 20.9 meters away at (-1.0, 20.9). A vehicle with ID 75 is 20.9 meters away at (6.8, 19.8).

The unknown object with ID 72 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.12049587 -1.3006092 ] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -4.6) 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 25 is 10.4 meters away at (-8.4, -6.2). A unknown object with ID 72 is 11.3 meters away at (11.3, -1.0). A vehicle with ID 65 is 11.4 meters away at (-7.6, -8.4). A unknown object with ID 40 is 13.2 meters away at (-13.0, 2.1). A unknown object with ID 17 is 13.8 meters away at (13.7, -0.9). A vehicle with ID 36 is 15.6 meters away at (9.0, -12.8). A unknown object with ID 28 is 15.9 meters away at (-15.6, 2.9). A unknown object with ID 67 is 16.3 meters away at (16.3, -1.0). A vehicle with ID 14 is 17.0 meters away at (7.9, -15.0). A unknown object with ID 44 is 17.8 meters away at (-17.4, 3.6).

The unknown object with ID 25 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 vehicle with ID 65 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -5.4) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 65 is 4.1 meters away at (-3.8, 1.6). A vehicle with ID 14 is 12.8 meters away at (11.7, -5.0). A vehicle with ID 36 is 13.1 meters away at (12.8, -2.7). A vehicle with ID 31 is 13.8 meters away at (9.8, -9.7). A unknown object with ID 72 is 17.6 meters away at (15.1, 9.1). A unknown object with ID 17 is 19.8 meters away at (17.5, 9.2). A vehicle with ID 11 is 20.1 meters away at (-10.2, -17.3). A unknown object with ID 12 is 20.6 meters away at (-14.3, -14.8). A unknown object with ID 67 is 22.1 meters away at (20.1, 9.2). A vehicle with ID 64 is 26.9 meters away at (26.3, 5.6).

The vehicle with ID 65 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 36 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 unknown object with ID 72 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -0.6) m/s. Its current heading (yaw) is -2.77 radians with an angular velocity of -2.77 rad/s.

The most relevant actors are: A vehicle with ID 15 is 17.6 meters away at (17.3, -3.1). A vehicle with ID 6 is 30.0 meters away at (11.9, 27.5). A vehicle with ID 18 is 31.1 meters away at (-6.0, 30.5). A vehicle with ID 14 is 32.2 meters away at (-5.5, -31.8). A vehicle with ID 19 is 39.2 meters away at (37.9, 10.2). A unknown object with ID 10 is 55.0 meters away at (52.7, 15.7).

The vehicle with ID 15 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 [ 2.8297606  -0.37096542] m/s.The vehicle with ID 18 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 19 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, -0.1) m/s. Its current heading (yaw) is -2.77 radians with an angular velocity of -2.77 rad/s.

The most relevant actors are: A unknown object with ID 8 is 15.7 meters away at (-8.4, 13.3). A vehicle with ID 15 is 18.4 meters away at (18.2, -2.7). A vehicle with ID 18 is 31.3 meters away at (-5.0, 30.9). A vehicle with ID 14 is 31.8 meters away at (-4.6, -31.5). A vehicle with ID 19 is 40.2 meters away at (38.8, 10.6). A unknown object with ID 4 is 54.0 meters away at (53.6, 7.1). A unknown object with ID 3 is 54.8 meters away at (54.4, 7.2).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -2.0) m/s. Its current heading (yaw) is -2.32 radians with an angular velocity of -2.32 rad/s.

The most relevant actors are: A vehicle with ID 15 is 20.9 meters away at (20.9, -1.1). A vehicle with ID 14 is 29.8 meters away at (-2.0, -29.7). A vehicle with ID 18 is 32.7 meters away at (-2.3, 32.6). A vehicle with ID 19 is 43.2 meters away at (41.4, 12.2).

The vehicle with ID 15 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -3.9) m/s. Its current heading (yaw) is -1.63 radians with an angular velocity of -1.63 rad/s.

The most relevant actors are: A vehicle with ID 14 is 23.6 meters away at (0.7, -23.6). A vehicle with ID 15 is 24.1 meters away at (23.5, 5.2). A vehicle with ID 18 is 38.7 meters away at (0.3, 38.7). A vehicle with ID 19 is 47.8 meters away at (44.2, 18.3). A vehicle with ID 1 is 76.2 meters away at (28.1, -70.8).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (0.4, 0.4) 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 26 is 17.3 meters away at (-13.6, -10.8). A unknown object with ID 27 is 17.5 meters away at (-14.1, -10.4). A unknown object with ID 9 is 17.6 meters away at (-14.2, -10.4). A unknown object with ID 28 is 17.7 meters away at (-14.8, -9.9). A vehicle with ID 29 is 17.8 meters away at (0.6, 17.8). A pedestrian with ID 16 is 18.2 meters away at (0.9, -18.2). A unknown object with ID 15 is 19.5 meters away at (-15.0, -12.5). A pedestrian with ID 21 is 19.6 meters away at (1.1, -19.6). A pedestrian with ID 24 is 20.1 meters away at (0.5, -20.1). A unknown object with ID 30 is 20.1 meters away at (-16.5, -11.5).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.00090036  0.00177962] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00928067  0.00776884] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00319533 -0.02883266] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) 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 vehicle with ID 29 is 17.5 meters away at (0.4, 17.5). A unknown object with ID 26 is 17.7 meters away at (-13.8, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.3, -10.6). A unknown object with ID 28 is 18.1 meters away at (-15.0, -10.1). A pedestrian with ID 16 is 18.4 meters away at (0.6, -18.4). A pedestrian with ID 21 is 19.8 meters away at (0.9, -19.8). A unknown object with ID 15 is 19.9 meters away at (-15.2, -12.8). A unknown object with ID 30 is 20.5 meters away at (-16.7, -11.8). A unknown object with ID 22 is 21.3 meters away at (-17.2, -12.6). A unknown object with ID 31 is 21.4 meters away at (-16.5, -13.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [-0.01919129  0.0025353 ] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.01349362 -0.01813407] 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 30 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) 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 vehicle with ID 29 is 17.4 meters away at (0.4, 17.4). A unknown object with ID 26 is 17.8 meters away at (-13.9, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.4, -10.6). A unknown object with ID 28 is 18.2 meters away at (-15.0, -10.2). A pedestrian with ID 16 is 18.5 meters away at (0.6, -18.5). A pedestrian with ID 21 is 19.8 meters away at (0.8, -19.8). A unknown object with ID 15 is 19.9 meters away at (-15.3, -12.8). A vehicle with ID 41 is 20.0 meters away at (-13.4, -14.9). A unknown object with ID 30 is 20.5 meters away at (-16.8, -11.9). A unknown object with ID 22 is 21.4 meters away at (-17.2, -12.6).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.00254303 -0.00355281] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [0.00481462 0.00146947] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [4.3531766 4.6888685] m/s.The unknown object with ID 30 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.84 radians with an angular velocity of 0.84 rad/s.

The most relevant actors are: A vehicle with ID 41 is 10.8 meters away at (-7.1, -8.1). A vehicle with ID 29 is 17.4 meters away at (0.3, 17.4). A unknown object with ID 26 is 17.8 meters away at (-13.8, -11.1). A unknown object with ID 27 is 17.9 meters away at (-14.4, -10.7). A unknown object with ID 28 is 18.2 meters away at (-15.0, -10.2). A pedestrian with ID 16 is 18.5 meters away at (0.6, -18.5). A pedestrian with ID 21 is 19.8 meters away at (0.8, -19.8). A unknown object with ID 30 is 20.5 meters away at (-16.8, -11.9). A unknown object with ID 22 is 21.4 meters away at (-17.2, -12.7). A unknown object with ID 31 is 21.4 meters away at (-16.5, -13.6).

The vehicle with ID 41 is traveling at a (x, y) velocity of [1.8117551 1.9558551] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [0.00017823 0.00072175] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00105698  0.0013393 ] m/s.The unknown object with ID 30 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 6.4) m/s. Its current heading (yaw) is 2.10 radians with an angular velocity of 2.10 rad/s.

The most relevant actors are: A vehicle with ID 23 is 19.3 meters away at (2.9, -19.1). A vehicle with ID 24 is 24.2 meters away at (5.0, -23.7). A vehicle with ID 25 is 29.6 meters away at (7.5, -28.6). A vehicle with ID 26 is 35.6 meters away at (10.0, -34.2). A vehicle with ID 27 is 41.9 meters away at (12.3, -40.1). A vehicle with ID 28 is 48.5 meters away at (15.2, -46.0). A vehicle with ID 14 is 58.1 meters away at (18.6, -55.1).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.1) m/s. Its current heading (yaw) is 1.98 radians with an angular velocity of 1.98 rad/s.

The most relevant actors are: A pedestrian with ID 12 is 15.3 meters away at (-13.6, -7.1). A unknown object with ID 13 is 27.0 meters away at (-26.8, -3.1). A vehicle with ID 23 is 33.8 meters away at (10.5, -32.1). A vehicle with ID 24 is 38.8 meters away at (12.7, -36.7). A vehicle with ID 25 is 44.3 meters away at (15.1, -41.6). A vehicle with ID 26 is 50.3 meters away at (17.5, -47.1). A vehicle with ID 27 is 56.8 meters away at (19.9, -53.2). A vehicle with ID 28 is 63.2 meters away at (22.5, -59.1). A vehicle with ID 6 is 75.0 meters away at (-33.1, 67.3).

The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.75246495  1.0500072 ] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 7.6) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

The most relevant actors are: A unknown object with ID 15 is 7.4 meters away at (-2.7, -6.8). A vehicle with ID 23 is 49.3 meters away at (16.8, -46.4). A vehicle with ID 24 is 54.3 meters away at (19.1, -50.8). A vehicle with ID 6 is 59.3 meters away at (-26.7, 53.0). A vehicle with ID 25 is 59.9 meters away at (21.5, -55.9). A vehicle with ID 26 is 65.9 meters away at (23.8, -61.4). A vehicle with ID 4 is 66.4 meters away at (-29.5, 59.5). A vehicle with ID 27 is 72.4 meters away at (26.1, -67.5).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 7.5) 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 35.6 meters away at (-20.6, -29.0). A vehicle with ID 6 is 43.0 meters away at (-20.1, 38.1). A vehicle with ID 4 is 50.1 meters away at (-22.9, 44.6). A vehicle with ID 23 is 65.7 meters away at (23.5, -61.3). A vehicle with ID 3 is 67.2 meters away at (-29.8, 60.3). A vehicle with ID 24 is 70.7 meters away at (25.5, -66.0). A vehicle with ID 25 is 76.2 meters away at (28.1, -70.8).

The vehicle with ID 22 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 4 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -0.3) m/s. Its current heading (yaw) is -2.84 radians with an angular velocity of -2.84 rad/s.

The most relevant actors are: A vehicle with ID 14 is 11.2 meters away at (4.4, 10.3). A vehicle with ID 1 is 16.3 meters away at (0.3, -16.3). A vehicle with ID 15 is 18.6 meters away at (1.1, 18.6). A vehicle with ID 18 is 21.2 meters away at (11.1, 18.0). A vehicle with ID 30 is 21.4 meters away at (-8.9, -19.5). A vehicle with ID 26 is 25.4 meters away at (18.1, 17.8). A vehicle with ID 34 is 26.4 meters away at (-6.5, -25.5). A vehicle with ID 23 is 30.2 meters away at (-1.4, 30.2). A vehicle with ID 22 is 30.9 meters away at (-4.2, 30.6). A vehicle with ID 44 is 32.1 meters away at (-4.4, -31.8).

The vehicle with ID 14 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A vehicle with ID 14 is 11.7 meters away at (5.0, 10.6). A vehicle with ID 1 is 16.1 meters away at (0.9, -16.1). A vehicle with ID 15 is 18.9 meters away at (1.7, 18.8). A vehicle with ID 30 is 21.0 meters away at (-8.3, -19.3). A vehicle with ID 18 is 21.6 meters away at (11.7, 18.2). A vehicle with ID 26 is 25.9 meters away at (18.6, 18.1). A vehicle with ID 34 is 26.0 meters away at (-5.9, -25.3). A vehicle with ID 23 is 30.4 meters away at (-0.9, 30.4). A vehicle with ID 22 is 31.1 meters away at (-3.6, 30.9). A vehicle with ID 44 is 31.9 meters away at (-3.8, -31.6).

The vehicle with ID 14 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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 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 (-0.9, -0.2) m/s. Its current heading (yaw) is -2.92 radians with an angular velocity of -2.92 rad/s.

The most relevant actors are: A vehicle with ID 14 is 12.2 meters away at (5.7, 10.8). A vehicle with ID 16 is 14.4 meters away at (3.3, -14.0). A vehicle with ID 15 is 19.1 meters away at (2.3, 19.0). A vehicle with ID 30 is 20.5 meters away at (-7.5, -19.1). A vehicle with ID 18 is 22.2 meters away at (12.4, 18.4). A cyclist with ID 70 is 24.0 meters away at (23.8, 3.6). A vehicle with ID 34 is 25.6 meters away at (-5.1, -25.1). A vehicle with ID 26 is 26.6 meters away at (19.4, 18.3). A vehicle with ID 23 is 30.6 meters away at (-0.3, 30.6). A vehicle with ID 22 is 31.2 meters away at (-2.9, 31.1).

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 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [-8.99337    -0.21958843] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 0.3) m/s. Its current heading (yaw) is 3.00 radians with an angular velocity of 3.00 rad/s.

The most relevant actors are: A cyclist with ID 70 is 12.6 meters away at (12.5, 1.6). A vehicle with ID 14 is 14.1 meters away at (8.9, 11.0). A vehicle with ID 16 is 15.2 meters away at (6.5, -13.7). A vehicle with ID 30 is 19.4 meters away at (-4.2, -19.0). A vehicle with ID 15 is 19.9 meters away at (5.4, 19.2). A vehicle with ID 18 is 24.3 meters away at (15.5, 18.8). A vehicle with ID 34 is 25.1 meters away at (-1.7, -25.0). A vehicle with ID 26 is 29.1 meters away at (22.5, 18.5). A vehicle with ID 23 is 30.9 meters away at (2.8, 30.8). A vehicle with ID 22 is 31.2 meters away at (0.2, 31.2).

The cyclist with ID 70 is traveling at a (x, y) velocity of [-6.3030534 -1.5558988] 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, 0.2) 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 33 is 3.2 meters away at (2.0, 2.6). A unknown object with ID 32 is 6.7 meters away at (0.9, -6.6). A unknown object with ID 31 is 6.9 meters away at (-1.5, -6.8). A unknown object with ID 34 is 7.5 meters away at (3.5, -6.7). A vehicle with ID 39 is 10.1 meters away at (10.1, 0.1). A vehicle with ID 40 is 11.1 meters away at (6.3, -9.1). A vehicle with ID 76 is 13.0 meters away at (-6.6, 11.2). A vehicle with ID 46 is 13.1 meters away at (-11.2, 6.8). A vehicle with ID 35 is 13.7 meters away at (-2.0, -13.6). A vehicle with ID 37 is 16.3 meters away at (-2.7, -16.1).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 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 [-1.1345809  0.470679 ] 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, -2.5) m/s. Its current heading (yaw) is -2.57 radians with an angular velocity of -2.57 rad/s.

The most relevant actors are: A unknown object with ID 31 is 7.7 meters away at (6.1, -4.7). A unknown object with ID 32 is 9.6 meters away at (8.5, -4.5). A vehicle with ID 33 is 10.4 meters away at (9.2, 4.8). A vehicle with ID 76 is 11.4 meters away at (0.7, 11.4). A unknown object with ID 34 is 12.1 meters away at (11.1, -4.6). A vehicle with ID 46 is 12.3 meters away at (-7.0, 10.2). A vehicle with ID 35 is 12.8 meters away at (5.7, -11.5). A pedestrian with ID 43 is 14.8 meters away at (-14.8, 1.2). A vehicle with ID 37 is 14.8 meters away at (5.1, -14.0). A vehicle with ID 40 is 15.6 meters away at (14.0, -7.0).

The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-0.6255451 -2.4196367] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.5227404   0.95782226] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.02102609 -0.01411606] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, -2.6) m/s. Its current heading (yaw) is -2.45 radians with an angular velocity of -2.45 rad/s.

The most relevant actors are: A pedestrian with ID 43 is 10.4 meters away at (-8.0, 6.6). A vehicle with ID 76 is 10.7 meters away at (4.8, 9.6). A unknown object with ID 31 is 12.9 meters away at (12.9, 0.9). A vehicle with ID 35 is 14.0 meters away at (12.6, -6.0). A vehicle with ID 37 is 14.5 meters away at (11.9, -8.4). A vehicle with ID 38 is 15.1 meters away at (10.8, -10.6). A unknown object with ID 32 is 15.4 meters away at (15.4, 1.0). A vehicle with ID 3 is 16.2 meters away at (9.7, -13.0). A vehicle with ID 45 is 17.1 meters away at (-8.6, -14.8). A unknown object with ID 34 is 18.0 meters away at (18.0, 1.0).

The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00893553 -0.00503412] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.041644 -4.649222] m/s.The unknown object with ID 31 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 38 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, -2.3) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 76 is 6.6 meters away at (5.4, 3.8). A vehicle with ID 45 is 10.8 meters away at (-4.2, -10.0). A pedestrian with ID 43 is 12.2 meters away at (-3.4, 11.7). A vehicle with ID 38 is 16.4 meters away at (15.3, -5.9). A vehicle with ID 3 is 16.4 meters away at (14.2, -8.2). A vehicle with ID 37 is 16.8 meters away at (16.4, -3.6). A vehicle with ID 35 is 17.1 meters away at (17.0, -1.2). A unknown object with ID 2 is 18.2 meters away at (-10.6, -14.8). A vehicle with ID 4 is 18.3 meters away at (12.6, -13.2). A unknown object with ID 31 is 18.4 meters away at (17.5, 5.7).

The vehicle with ID 76 is traveling at a (x, y) velocity of [-2.1921422 -6.2741637] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.00797064  0.03135047] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 2.0) 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 14 is 48.8 meters away at (-12.4, 47.1). A vehicle with ID 10 is 68.9 meters away at (-24.8, 64.2).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.5489664 -6.2157903] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 5.635858 -7.653279] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 4.1) m/s. Its current heading (yaw) is 0.92 radians with an angular velocity of 0.92 rad/s.

The most relevant actors are: A vehicle with ID 14 is 32.8 meters away at (-11.0, 30.9). A vehicle with ID 10 is 49.6 meters away at (-20.9, 45.0). A vehicle with ID 8 is 59.9 meters away at (-29.1, 52.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 2.9386635 -4.0050564] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 4.042167 -5.475349] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 2.8688128 -3.4509916] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 6.5) m/s. Its current heading (yaw) is 1.71 radians with an angular velocity of 1.71 rad/s.

The most relevant actors are: A unknown object with ID 7 is 9.5 meters away at (7.7, 5.6). A vehicle with ID 14 is 18.5 meters away at (-10.5, 15.2). A vehicle with ID 10 is 30.8 meters away at (-17.7, 25.2). A vehicle with ID 8 is 44.5 meters away at (-26.9, 35.5).

The unknown object with ID 7 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 [ 0.42860055 -0.60442716] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 2.3556488 -3.4941254] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.7062342 -2.0274813] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 7.2) m/s. Its current heading (yaw) is 2.14 radians with an angular velocity of 2.14 rad/s.

The most relevant actors are: A vehicle with ID 14 is 4.8 meters away at (-4.6, 1.2). A vehicle with ID 10 is 10.9 meters away at (-8.6, 6.7). A unknown object with ID 15 is 12.6 meters away at (-8.1, -9.7). A vehicle with ID 8 is 27.8 meters away at (-19.5, 19.8). A unknown object with ID 12 is 53.7 meters away at (-28.4, 45.6). A vehicle with ID 17 is 68.1 meters away at (-44.0, 52.0).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ 0.6435134 -0.7345548] m/s.The unknown object with ID 15 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 [ 0.3512154 -0.2879833] m/s.The unknown object with ID 12 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 [ 6.6807857 -7.9768715] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 0.1) m/s. Its current heading (yaw) is 0.02 radians with an angular velocity of 0.02 rad/s.

The most relevant actors are: A vehicle with ID 6 is 40.5 meters away at (40.0, 6.4). A vehicle with ID 16 is 45.0 meters away at (32.6, -31.1). A cyclist with ID 12 is 54.3 meters away at (-47.4, 26.6). A vehicle with ID 14 is 69.8 meters away at (40.5, -56.8).

The vehicle with ID 6 is traveling at a (x, y) velocity of [ -0.34949073 -12.579786  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-2.7301018 12.979305 ] m/s.The cyclist with ID 12 is traveling at a (x, y) velocity of [ 9.23837   -6.4709277] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.7267017 12.59032  ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, 1.2) m/s. Its current heading (yaw) is 0.37 radians with an angular velocity of 0.37 rad/s.

The most relevant actors are: A vehicle with ID 16 is 22.3 meters away at (21.7, -4.9). A vehicle with ID 14 is 42.2 meters away at (25.6, -33.6). A vehicle with ID 3 is 64.4 meters away at (27.5, -58.2).

The vehicle with ID 16 is traveling at a (x, y) velocity of [-0.5216388 14.356053 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-2.5841064 12.3205   ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.3157735 11.896901 ] 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, 2.0) m/s. Its current heading (yaw) is 0.66 radians with an angular velocity of 0.66 rad/s.

The most relevant actors are: A vehicle with ID 14 is 20.2 meters away at (16.4, -11.8). A vehicle with ID 16 is 26.3 meters away at (16.6, 20.4). A cyclist with ID 1 is 26.9 meters away at (-26.9, 0.2). A vehicle with ID 3 is 41.4 meters away at (12.8, -39.4). A unknown object with ID 4 is 46.6 meters away at (9.2, 45.7).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-0.97844154 12.895813  ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 0.96688914 14.033377  ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 7.340329  -4.2561655] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-4.6463866  9.6873255] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 2.5) m/s. Its current heading (yaw) is 0.93 radians with an angular velocity of 0.93 rad/s.

The most relevant actors are: A vehicle with ID 14 is 14.9 meters away at (11.7, 9.3). A cyclist with ID 1 is 19.4 meters away at (-17.6, -8.1). A vehicle with ID 3 is 28.7 meters away at (-4.6, -28.3). A vehicle with ID 16 is 44.8 meters away at (14.7, 42.3).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 0.746632  13.1291685] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [6.49159    0.06301927] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-8.423038   6.7539344] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 1.5820262 12.727817 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, -0.7) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A vehicle with ID 45 is 8.7 meters away at (-8.7, -0.2). A vehicle with ID 36 is 9.5 meters away at (-9.0, 3.0). A pedestrian with ID 35 is 12.8 meters away at (9.1, 9.0). A vehicle with ID 49 is 15.6 meters away at (-15.4, 2.2). A pedestrian with ID 41 is 16.2 meters away at (13.5, -8.9). A vehicle with ID 43 is 18.2 meters away at (2.2, -18.1). A unknown object with ID 53 is 19.6 meters away at (14.3, -13.3). A vehicle with ID 56 is 19.8 meters away at (13.3, 14.7). A unknown object with ID 54 is 19.9 meters away at (12.1, -15.8). A vehicle with ID 69 is 20.7 meters away at (16.2, 12.9).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.72190964 -0.28211728] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.53414345 -1.205433  ] m/s.The vehicle with ID 49 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 [-0.7769998 -1.5011374] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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 69 is traveling at a (x, y) velocity of [-1.1478947 -2.1067722] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -2.3) m/s. Its current heading (yaw) is -0.46 radians with an angular velocity of -0.46 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 9.5 meters away at (1.2, 9.4). A pedestrian with ID 41 is 10.5 meters away at (5.5, -9.0). A unknown object with ID 53 is 12.9 meters away at (7.5, -10.5). A vehicle with ID 36 is 15.0 meters away at (-14.1, 5.2). A vehicle with ID 69 is 15.0 meters away at (7.9, 12.8). A vehicle with ID 45 is 15.7 meters away at (-15.4, 2.6). A vehicle with ID 43 is 15.9 meters away at (-4.5, -15.3). A pedestrian with ID 59 is 16.4 meters away at (16.1, 3.3). A vehicle with ID 37 is 17.4 meters away at (8.2, -15.3). A vehicle with ID 42 is 18.0 meters away at (17.8, -2.9).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.40955558 -1.2073971 ] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.38460895 -1.4738877 ] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.4023042 -0.5387152] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.48690552 -1.0932683 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.180442    0.87637323] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -3.3) 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 pedestrian with ID 41 is 7.4 meters away at (-3.7, -6.4). A vehicle with ID 37 is 9.7 meters away at (-0.1, -9.7). A vehicle with ID 42 is 9.9 meters away at (9.6, 2.7). A pedestrian with ID 59 is 11.7 meters away at (5.3, 10.5). A pedestrian with ID 35 is 14.7 meters away at (-7.7, 12.6). A vehicle with ID 43 is 16.0 meters away at (-12.7, -9.7). A vehicle with ID 69 is 16.8 meters away at (-1.2, 16.7). A unknown object with ID 47 is 17.3 meters away at (17.0, -3.3). A vehicle with ID 48 is 19.4 meters away at (7.2, -18.0). A unknown object with ID 51 is 20.1 meters away at (19.3, -5.6).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.64052445 -1.6118225 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-1.2825785   0.70525515] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.37111285 -1.2928648 ] m/s.The vehicle with ID 43 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 [-0.48031768 -0.88315517] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.