The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -1.5) m/s. Its current heading (yaw) is -2.78 radians with an angular velocity of -2.78 rad/s.

The most relevant actors are: A unknown object with ID 9 is 7.7 meters away at (4.7, -6.2). A unknown object with ID 30 is 9.3 meters away at (7.1, -6.0). A unknown object with ID 32 is 11.3 meters away at (9.7, -5.9). A vehicle with ID 31 is 15.5 meters away at (3.5, -15.0). A pedestrian with ID 40 is 16.1 meters away at (-15.8, -3.0). A pedestrian with ID 41 is 16.5 meters away at (-16.1, -3.6). A vehicle with ID 33 is 20.2 meters away at (1.6, -20.1). A unknown object with ID 42 is 21.7 meters away at (-1.5, 21.6). A vehicle with ID 36 is 23.6 meters away at (22.3, -7.6). A vehicle with ID 55 is 24.2 meters away at (7.0, 23.1).

The unknown object with ID 9 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.393357   0.5411475] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.4060086   0.54089826] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 4.49316   -1.3093534] m/s.The vehicle with ID 55 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 (-3.5, -4.0) m/s. Its current heading (yaw) is -2.30 radians with an angular velocity of -2.30 rad/s.

The most relevant actors are: A pedestrian with ID 41 is 11.4 meters away at (-11.0, 3.2). A pedestrian with ID 40 is 11.5 meters away at (-10.8, 3.8). A unknown object with ID 9 is 12.3 meters away at (12.3, -0.4). A vehicle with ID 31 is 14.5 meters away at (11.1, -9.3). A unknown object with ID 30 is 14.7 meters away at (14.7, -0.3). A vehicle with ID 33 is 17.2 meters away at (9.3, -14.5). A unknown object with ID 32 is 17.3 meters away at (17.3, -0.2). A unknown object with ID 34 is 26.4 meters away at (-15.3, -21.5). A vehicle with ID 57 is 26.5 meters away at (-23.9, 11.6). A unknown object with ID 42 is 28.1 meters away at (6.2, 27.4).

The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.3784989   0.60205746] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-1.3176959   0.64689285] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -4.9) m/s. Its current heading (yaw) is -2.02 radians with an angular velocity of -2.02 rad/s.

The most relevant actors are: A vehicle with ID 33 is 15.7 meters away at (14.8, -5.3). A unknown object with ID 34 is 15.7 meters away at (-9.8, -12.3). A vehicle with ID 31 is 16.4 meters away at (16.4, -0.1). A unknown object with ID 35 is 19.3 meters away at (-11.0, -15.9). A unknown object with ID 9 is 19.8 meters away at (17.7, 8.9). A unknown object with ID 30 is 22.2 meters away at (20.3, 9.1). A unknown object with ID 32 is 24.5 meters away at (22.7, 9.1). A vehicle with ID 20 is 30.0 meters away at (24.0, 18.0). A vehicle with ID 47 is 38.0 meters away at (-12.6, -35.8). A unknown object with ID 42 is 38.5 meters away at (11.6, 36.7).

The vehicle with ID 33 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [-11.847841    3.6213648] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.3) 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 pedestrian with ID 56 is 8.8 meters away at (4.1, 7.8). A pedestrian with ID 54 is 9.2 meters away at (7.1, 5.9). A vehicle with ID 66 is 9.3 meters away at (7.8, -5.0). A pedestrian with ID 62 is 10.1 meters away at (2.7, 9.7). A pedestrian with ID 70 is 12.7 meters away at (2.5, 12.5). A vehicle with ID 74 is 16.1 meters away at (-3.1, 15.8). A pedestrian with ID 48 is 16.8 meters away at (16.7, 1.4). A pedestrian with ID 45 is 17.2 meters away at (17.0, 2.0). A pedestrian with ID 49 is 18.3 meters away at (18.3, 0.8). A pedestrian with ID 50 is 18.7 meters away at (18.6, 1.4).

The pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0367208  0.8160684] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-1.277732    0.70379764] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [-4.5266013  1.2577413] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.8152567  0.819701 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.55954784 -1.1448106 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 0.72765523 -4.898339  ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.0635885   0.44955158] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-1.0415319  0.4505208] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0071527  0.4955878] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.0328255   0.49717584] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A vehicle with ID 66 is 3.7 meters away at (1.2, -3.5). A vehicle with ID 74 is 7.0 meters away at (2.2, 6.6). A pedestrian with ID 54 is 9.0 meters away at (5.2, 7.3). A pedestrian with ID 56 is 10.1 meters away at (2.9, 9.7). A pedestrian with ID 70 is 10.8 meters away at (4.2, 10.0). A pedestrian with ID 62 is 11.4 meters away at (2.5, 11.2). A pedestrian with ID 48 is 15.2 meters away at (15.1, 2.3). A pedestrian with ID 45 is 15.7 meters away at (15.4, 3.0). A pedestrian with ID 49 is 16.8 meters away at (16.7, 1.4). A pedestrian with ID 50 is 17.2 meters away at (17.0, 2.1).

The vehicle with ID 66 is traveling at a (x, y) velocity of [-2.4338424   0.41238725] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 4.3283844 -3.7617996] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.9476122  0.7885771] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.66895485  1.0984957 ] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.63017106 -1.2546161 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.2023996  0.5448221] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.93954945  0.63796884] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.9607033   0.59551895] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.92839324  0.4620285 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.925693   0.4506293] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A vehicle with ID 66 is 3.8 meters away at (-2.0, -3.2). A pedestrian with ID 70 is 9.7 meters away at (5.7, 7.9). A vehicle with ID 2 is 9.8 meters away at (8.0, -5.7). A pedestrian with ID 54 is 10.2 meters away at (3.3, 9.6). A pedestrian with ID 56 is 12.5 meters away at (2.8, 12.2). A vehicle with ID 74 is 13.5 meters away at (13.5, -0.1). A pedestrian with ID 62 is 13.7 meters away at (1.2, 13.7). A pedestrian with ID 48 is 13.8 meters away at (13.3, 3.8). A pedestrian with ID 49 is 15.0 meters away at (14.8, 2.4). A pedestrian with ID 50 is 15.4 meters away at (15.1, 2.9).

The vehicle with ID 66 is traveling at a (x, y) velocity of [-0.9951489   0.03306453] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 0.8581478  -0.94752395] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.8380816  0.7142298] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.7990749  1.1934501] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.27803573  1.2189864 ] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ 6.8414407 -2.9765708] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.55483097  1.0608037 ] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.0218318   0.47622046] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0009974  0.50683  ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.98395073  0.47361353] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A vehicle with ID 66 is 4.1 meters away at (-2.7, -3.1). A vehicle with ID 16 is 6.7 meters away at (4.7, -4.9). A vehicle with ID 2 is 6.8 meters away at (4.7, -4.9). A pedestrian with ID 70 is 10.1 meters away at (7.8, 6.4). A pedestrian with ID 48 is 11.8 meters away at (11.0, 4.3). A pedestrian with ID 54 is 12.5 meters away at (1.9, 12.3). A pedestrian with ID 49 is 13.1 meters away at (12.8, 3.1). A pedestrian with ID 50 is 13.5 meters away at (13.0, 3.6). A pedestrian with ID 56 is 14.6 meters away at (2.0, 14.5). A pedestrian with ID 62 is 15.8 meters away at (0.6, 15.8).

The vehicle with ID 66 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 2 is traveling at a (x, y) velocity of [-0.5451763  0.1310353] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [ 1.1077151 -0.5867975] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-1.1552149   0.37026542] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.67755145  1.3806745 ] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0858903   0.34398174] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.073513   0.3991446] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.41084874  1.1497113 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-0.2790293  1.0620949] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, 6.5) m/s. Its current heading (yaw) is 1.87 radians with an angular velocity of 1.87 rad/s.

The most relevant actors are: A vehicle with ID 3 is 9.4 meters away at (-1.1, -9.3). A vehicle with ID 7 is 17.4 meters away at (13.9, -10.5). A vehicle with ID 2 is 21.1 meters away at (1.4, -21.0). A vehicle with ID 8 is 39.9 meters away at (13.7, -37.5).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.9786379  7.2759323] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.6636794  7.527975 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 6.2) 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 3 is 7.2 meters away at (-1.5, -7.1). A vehicle with ID 2 is 20.2 meters away at (2.6, -20.0). A vehicle with ID 7 is 29.4 meters away at (18.1, -23.1). A vehicle with ID 8 is 53.3 meters away at (18.0, -50.2).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.7656631  8.008679 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.7930582  6.7532635] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, 6.0) m/s. Its current heading (yaw) is 2.00 radians with an angular velocity of 2.00 rad/s.

The most relevant actors are: A vehicle with ID 3 is 3.8 meters away at (-3.0, -2.4). A vehicle with ID 2 is 17.4 meters away at (2.9, -17.2). A vehicle with ID 7 is 42.3 meters away at (23.2, -35.4). A vehicle with ID 8 is 67.7 meters away at (23.1, -63.6). A vehicle with ID 6 is 70.0 meters away at (-31.4, 62.6).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-3.8594208  9.012888 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-3.1777596  8.428368 ] m/s.The vehicle with ID 7 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 [ 0.12110568 -1.816347  ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [  9.936602 -11.311935] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 5.8) m/s. Its current heading (yaw) is 2.07 radians with an angular velocity of 2.07 rad/s.

The most relevant actors are: A vehicle with ID 3 is 7.6 meters away at (-6.4, 4.2). A vehicle with ID 2 is 10.6 meters away at (0.8, -10.5). A vehicle with ID 6 is 28.5 meters away at (-6.5, 27.7).

The vehicle with ID 3 is traveling at a (x, y) velocity of [-5.6840277  9.621713 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-4.610542  9.900418] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [  8.642049 -12.076416] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, 7.3) 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 81 is 6.8 meters away at (-6.0, 3.1). A vehicle with ID 83 is 7.4 meters away at (-2.6, 6.9). A unknown object with ID 84 is 7.4 meters away at (7.4, -0.8). A vehicle with ID 80 is 9.3 meters away at (-9.3, -0.6). A vehicle with ID 88 is 10.6 meters away at (0.8, 10.6). A vehicle with ID 78 is 13.5 meters away at (-12.8, -4.3). A vehicle with ID 90 is 15.1 meters away at (4.3, 14.4). A unknown object with ID 92 is 18.6 meters away at (16.1, 9.4). A vehicle with ID 76 is 18.7 meters away at (-16.5, -8.7). A vehicle with ID 93 is 20.3 meters away at (8.2, 18.6).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 92 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 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.5) 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 vehicle with ID 93 is 6.1 meters away at (-4.6, 4.0). A vehicle with ID 97 is 7.8 meters away at (-1.1, 7.7). A vehicle with ID 90 is 8.4 meters away at (-8.4, -0.1). A vehicle with ID 100 is 12.0 meters away at (2.5, 11.7). A vehicle with ID 88 is 12.6 meters away at (-11.9, -3.9). A unknown object with ID 84 is 16.1 meters away at (-5.4, -15.2). A vehicle with ID 102 is 16.9 meters away at (6.1, 15.8). A vehicle with ID 83 is 17.1 meters away at (-15.3, -7.7). A vehicle with ID 105 is 21.9 meters away at (9.6, 19.7). A vehicle with ID 81 is 22.0 meters away at (-18.8, -11.5).

The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 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 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 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: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.1) 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 105 is 6.3 meters away at (-3.4, 5.4). A vehicle with ID 102 is 6.9 meters away at (-6.7, 1.5). A vehicle with ID 108 is 9.9 meters away at (0.7, 9.9). A vehicle with ID 100 is 10.6 meters away at (-10.3, -2.4). A vehicle with ID 110 is 14.5 meters away at (4.4, 13.9). A vehicle with ID 97 is 15.3 meters away at (-13.8, -6.5). A vehicle with ID 112 is 19.6 meters away at (8.0, 17.9). A vehicle with ID 93 is 20.2 meters away at (-17.4, -10.3). A vehicle with ID 90 is 25.8 meters away at (-21.4, -14.4). A vehicle with ID 59 is 27.3 meters away at (13.5, 23.8).

The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 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 59 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, 7.3) 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 112 is 6.1 meters away at (-4.9, 3.7). A vehicle with ID 110 is 8.5 meters away at (-8.5, -0.4). A vehicle with ID 59 is 9.5 meters away at (0.6, 9.5). A unknown object with ID 49 is 12.7 meters away at (0.8, -12.7). A vehicle with ID 108 is 12.9 meters away at (-12.1, -4.3). A vehicle with ID 43 is 14.9 meters away at (4.7, 14.1). A vehicle with ID 105 is 18.5 meters away at (-16.2, -8.8). A vehicle with ID 102 is 23.5 meters away at (-19.7, -12.8). A vehicle with ID 100 is 28.7 meters away at (-23.3, -16.8). A vehicle with ID 97 is 33.9 meters away at (-26.8, -20.8).

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 vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 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 (-6.7, -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 10 is 49.4 meters away at (40.9, 27.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [ 12.2971945 -17.50745  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.9, -7.2) m/s. Its current heading (yaw) is -2.17 radians with an angular velocity of -2.17 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.0, -8.7) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 2 is 68.5 meters away at (11.2, -67.6).

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

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -9.4) m/s. Its current heading (yaw) is -1.61 radians with an angular velocity of -1.61 rad/s.

The most relevant actors are: A vehicle with ID 2 is 51.8 meters away at (15.1, -49.5). A pedestrian with ID 7 is 54.8 meters away at (23.2, 49.6). A vehicle with ID 1 is 73.1 meters away at (27.9, -67.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [0.30858225 0.00967383] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (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 38 is 4.0 meters away at (-3.8, 1.0). A vehicle with ID 41 is 11.0 meters away at (4.0, 10.2). A vehicle with ID 36 is 16.5 meters away at (-13.2, -9.9). A vehicle with ID 39 is 19.8 meters away at (12.9, 15.1). A vehicle with ID 37 is 29.8 meters away at (-22.1, -20.0). A vehicle with ID 46 is 32.0 meters away at (17.6, 26.7). A vehicle with ID 40 is 35.8 meters away at (-28.1, -22.2). A vehicle with ID 42 is 41.4 meters away at (-29.8, -28.7). A unknown object with ID 26 is 43.5 meters away at (20.7, 38.2). A vehicle with ID 45 is 45.4 meters away at (29.5, 34.6).

The vehicle with ID 38 is traveling at a (x, y) velocity of [-2.0366728 -2.3740926] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-2.6781433 -3.1698844] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.9453223 -2.291456 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [5.8542757 6.7721963] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.5438592 -0.6895903] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-4.7723556 -5.7189364] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-0.29192328 -0.2981706 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [6.542266 7.38989 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, 6.9) 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 46 is 4.2 meters away at (-1.4, 4.0). A vehicle with ID 41 is 14.4 meters away at (-11.7, -8.4). A vehicle with ID 39 is 20.3 meters away at (13.4, 15.3). A unknown object with ID 19 is 21.2 meters away at (5.5, 20.4). A vehicle with ID 38 is 24.3 meters away at (-18.3, -16.0). A vehicle with ID 36 is 38.7 meters away at (-27.6, -27.2). A vehicle with ID 35 is 47.7 meters away at (6.9, 47.2). A vehicle with ID 37 is 48.2 meters away at (-34.0, -34.2). A vehicle with ID 45 is 48.4 meters away at (32.2, 36.1). A cyclist with ID 3 is 57.4 meters away at (29.9, 49.0).

The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.864591  -3.3731425] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-1.5475252 -1.8441291] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [6.5157514 7.4682703] m/s.The unknown object with ID 19 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 [-1.0821345 -1.2342743] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.86943203 -1.0340569 ] 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 45 is traveling at a (x, y) velocity of [7.834316  7.8461967] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.02387767 0.02941626] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, 6.0) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A vehicle with ID 46 is 22.8 meters away at (-17.4, -14.7). A unknown object with ID 23 is 23.8 meters away at (-23.4, 4.7). A vehicle with ID 39 is 24.3 meters away at (16.4, 18.0). A vehicle with ID 35 is 34.6 meters away at (-4.0, 34.4). A vehicle with ID 41 is 35.5 meters away at (-25.5, -24.7). A vehicle with ID 8 is 37.8 meters away at (35.9, 11.9). A cyclist with ID 3 is 40.9 meters away at (19.0, 36.2). A vehicle with ID 32 is 41.7 meters away at (25.7, 32.8). A pedestrian with ID 12 is 42.3 meters away at (5.1, 42.0). A cyclist with ID 1 is 42.4 meters away at (17.1, 38.8).

The vehicle with ID 46 is traveling at a (x, y) velocity of [-2.0906527 -2.463352 ] m/s.The unknown object with ID 23 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 [7.819569 8.094091] m/s.The vehicle with ID 35 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 [-1.2656828 -1.4686555] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [0.01169515 0.01060555] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.04791597 -0.7538722 ] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [0.04408777 0.05530335] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 4.7) m/s. Its current heading (yaw) is 0.94 radians with an angular velocity of 0.94 rad/s.

The most relevant actors are: A vehicle with ID 32 is 26.1 meters away at (15.6, 21.0). A vehicle with ID 35 is 26.1 meters away at (-12.0, 23.2). A vehicle with ID 8 is 26.8 meters away at (26.7, 1.4). A cyclist with ID 3 is 27.7 meters away at (10.0, 25.8). A cyclist with ID 1 is 29.4 meters away at (8.1, 28.2). A cyclist with ID 25 is 29.5 meters away at (9.7, 27.9). A pedestrian with ID 12 is 30.6 meters away at (-3.4, 30.4). A vehicle with ID 39 is 33.5 meters away at (24.0, 23.4). A vehicle with ID 9 is 34.2 meters away at (21.4, 26.7). A vehicle with ID 46 is 41.9 meters away at (-30.1, -29.1).

The vehicle with ID 32 is traveling at a (x, y) velocity of [-1.15349   -1.9273913] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [ 0.66769874 -0.36764234] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 3 is traveling at a (x, y) velocity of [ 0.06054874 -0.01637905] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.08872388 -0.13012874] m/s.The cyclist with ID 25 is traveling at a (x, y) velocity of [-0.07047099 -0.19970882] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 0.54528064 -0.41692284] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [8.749997  7.8172145] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-1.0336306 -1.0522819] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-1.4656103 -1.5483023] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-9.3, 5.5) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A unknown object with ID 35 is 3.1 meters away at (-0.3, 3.1). A unknown object with ID 40 is 6.4 meters away at (1.0, -6.4). A unknown object with ID 31 is 7.0 meters away at (-4.4, 5.5). A unknown object with ID 79 is 7.7 meters away at (7.6, -1.4). A unknown object with ID 77 is 14.0 meters away at (8.8, -10.8). A pedestrian with ID 88 is 14.1 meters away at (-13.7, -3.1). A unknown object with ID 90 is 15.4 meters away at (-15.1, 2.9). A unknown object with ID 76 is 16.5 meters away at (15.4, -5.9). A pedestrian with ID 91 is 24.1 meters away at (-13.9, 19.7). A vehicle with ID 86 is 29.2 meters away at (25.3, -14.6).

The unknown object with ID 35 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 1.1869522 -0.7204742] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9146048  1.0296366] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-8.976718   5.2919173] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.7, 7.2) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A pedestrian with ID 91 is 9.4 meters away at (1.5, 9.3). A unknown object with ID 90 is 9.9 meters away at (2.2, -9.6). A unknown object with ID 71 is 10.0 meters away at (9.8, -2.2). A unknown object with ID 34 is 17.3 meters away at (10.0, -14.2). A pedestrian with ID 88 is 18.2 meters away at (5.9, -17.3). A vehicle with ID 69 is 22.6 meters away at (-20.3, -9.9). A vehicle with ID 38 is 23.6 meters away at (-19.4, 13.5). A pedestrian with ID 98 is 24.2 meters away at (-23.9, 3.9). A unknown object with ID 40 is 26.4 meters away at (18.4, -19.0). A pedestrian with ID 100 is 26.5 meters away at (-25.9, 5.3).

The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.83977354  1.1799641 ] m/s.The unknown object with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 88 is traveling at a (x, y) velocity of [ 1.1197281 -0.7473239] m/s.The vehicle with ID 69 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 [  9.505729 -10.79556 ] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.00502529  0.01130646] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [-0.00490599  0.00802719] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 8.2) m/s. Its current heading (yaw) is 2.29 radians with an angular velocity of 2.29 rad/s.

The most relevant actors are: A vehicle with ID 29 is 13.7 meters away at (-3.3, 13.2). A pedestrian with ID 98 is 14.4 meters away at (-8.7, -11.5). A pedestrian with ID 100 is 14.7 meters away at (-10.7, -10.0). A pedestrian with ID 91 is 15.6 meters away at (15.1, -3.7). A vehicle with ID 27 is 19.0 meters away at (-6.6, 17.8). A vehicle with ID 33 is 20.1 meters away at (-18.3, -8.4). A vehicle with ID 60 is 24.0 meters away at (-9.6, 22.0). A vehicle with ID 69 is 25.8 meters away at (-5.3, -25.3). A vehicle with ID 38 is 27.4 meters away at (16.8, -21.7). A pedestrian with ID 28 is 28.0 meters away at (-25.2, 12.2).

The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 98 is traveling at a (x, y) velocity of [-0.00046382  0.02568579] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [0.02525034 0.02971932] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.7079904  1.0717396] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 [11.534075 -8.471035] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.6997496 -0.9274371] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 8.8) m/s. Its current heading (yaw) is 2.21 radians with an angular velocity of 2.21 rad/s.

The most relevant actors are: A vehicle with ID 53 is 6.2 meters away at (-6.2, 0.4). A vehicle with ID 60 is 6.4 meters away at (4.0, 4.9). A vehicle with ID 27 is 7.0 meters away at (7.0, 0.7). A vehicle with ID 29 is 11.0 meters away at (10.3, -3.8). A pedestrian with ID 28 is 12.1 meters away at (-10.1, -6.7). A vehicle with ID 20 is 13.5 meters away at (-2.3, 13.3). A pedestrian with ID 24 is 18.4 meters away at (-17.3, 6.4). A vehicle with ID 19 is 18.7 meters away at (-5.6, 17.8). A pedestrian with ID 25 is 18.8 meters away at (-17.9, 5.8). A pedestrian with ID 26 is 19.4 meters away at (-18.7, 5.1).

The vehicle with ID 53 is traveling at a (x, y) velocity of [ 6.82898  -9.088393] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.74664205 -0.88741845] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 24 is traveling at a (x, y) velocity of [ 0.83066905 -1.1265891 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.8187691 -1.1396748] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.8035809 -1.0591006] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 1.0) m/s. Its current heading (yaw) is 1.57 radians with an angular velocity of 1.57 rad/s.

The most relevant actors are: A pedestrian with ID 24 is 23.7 meters away at (-14.9, -18.5). A vehicle with ID 25 is 29.8 meters away at (-13.3, -26.7). A vehicle with ID 26 is 37.0 meters away at (-11.9, -35.0). A vehicle with ID 21 is 43.4 meters away at (-43.4, -1.1). A vehicle with ID 22 is 67.4 meters away at (-67.2, 5.0).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.01914418  0.00966259] 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.8) m/s. Its current heading (yaw) is 1.59 radians with an angular velocity of 1.59 rad/s.

The most relevant actors are: A pedestrian with ID 24 is 24.4 meters away at (-14.9, -19.4). A vehicle with ID 25 is 30.6 meters away at (-13.2, -27.5). A unknown object with ID 13 is 33.4 meters away at (19.0, 27.5). A vehicle with ID 26 is 37.8 meters away at (-11.9, -35.9). A vehicle with ID 21 is 43.4 meters away at (-43.3, -2.0). A vehicle with ID 22 is 67.3 meters away at (-67.2, 4.1). A vehicle with ID 19 is 75.8 meters away at (-75.5, 6.3).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.05000179 -0.20990908] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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 22 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 3.8) m/s. Its current heading (yaw) is 1.36 radians with an angular velocity of 1.36 rad/s.

The most relevant actors are: A unknown object with ID 13 is 29.1 meters away at (18.6, 22.3). A vehicle with ID 25 is 35.4 meters away at (-13.2, -32.9). A vehicle with ID 26 is 42.8 meters away at (-11.8, -41.1). A vehicle with ID 21 is 44.2 meters away at (-43.6, -7.5). A vehicle with ID 22 is 67.4 meters away at (-67.4, -1.3). A vehicle with ID 14 is 72.8 meters away at (-72.8, -0.5).

The unknown object with ID 13 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.9, 2.0) m/s. Its current heading (yaw) is 0.38 radians with an angular velocity of 0.38 rad/s.

The most relevant actors are: A unknown object with ID 13 is 20.5 meters away at (12.9, 16.0). A vehicle with ID 25 is 43.6 meters away at (-18.9, -39.3). A vehicle with ID 26 is 50.7 meters away at (-17.5, -47.6). A vehicle with ID 21 is 51.1 meters away at (-49.2, -13.8). A vehicle with ID 22 is 73.6 meters away at (-73.2, -7.7). A vehicle with ID 20 is 76.4 meters away at (-76.1, -7.3).

The unknown object with ID 13 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 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 (-6.3, 3.4) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A vehicle with ID 10 is 52.3 meters away at (-50.8, 12.7). A vehicle with ID 12 is 65.0 meters away at (34.9, -54.9). A vehicle with ID 14 is 70.7 meters away at (23.9, -66.5). A unknown object with ID 13 is 70.8 meters away at (28.9, -64.7). A vehicle with ID 15 is 78.2 meters away at (36.9, -69.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.61902595  0.44050717] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 (-5.9, 3.1) 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 unknown object with ID 7 is 34.7 meters away at (-30.0, -17.4). A vehicle with ID 10 is 39.0 meters away at (-38.5, 6.3). A pedestrian with ID 8 is 43.6 meters away at (-5.3, -43.2). A vehicle with ID 1 is 66.2 meters away at (-63.4, -19.1). A vehicle with ID 12 is 76.3 meters away at (46.1, -60.7). A vehicle with ID 14 is 81.4 meters away at (36.3, -72.9).

The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.00667521 0.01146182] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.5871406 2.9241977] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-0.42143473  0.23031384] m/s.The vehicle with ID 14 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 (-5.1, 2.8) m/s. Its current heading (yaw) is 2.64 radians with an angular velocity of 2.64 rad/s.

The most relevant actors are: A vehicle with ID 10 is 27.1 meters away at (-27.1, 0.5). A vehicle with ID 1 is 49.4 meters away at (-44.5, -21.5).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.774631   0.67378825] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.9, 1.1) m/s. Its current heading (yaw) is 2.88 radians with an angular velocity of 2.88 rad/s.

The most relevant actors are: A vehicle with ID 10 is 18.8 meters away at (-18.4, -3.7). A vehicle with ID 1 is 38.3 meters away at (-27.8, -26.4). A pedestrian with ID 3 is 51.6 meters away at (14.2, -49.6).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.029969  -1.1241916] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-0.68917865  0.06252572] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, -5.0) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 15 is 29.9 meters away at (-23.5, -18.5). A vehicle with ID 9 is 31.3 meters away at (24.6, 19.3). A vehicle with ID 34 is 37.5 meters away at (-29.5, -23.1). A vehicle with ID 37 is 44.3 meters away at (-34.2, -28.2). A vehicle with ID 33 is 48.2 meters away at (-39.1, -28.2). A vehicle with ID 35 is 54.4 meters away at (44.9, 30.8). A vehicle with ID 32 is 63.3 meters away at (50.0, 38.8). A vehicle with ID 3 is 72.8 meters away at (-49.9, -53.0). A vehicle with ID 36 is 73.1 meters away at (59.7, 42.3). A vehicle with ID 2 is 76.0 meters away at (-54.2, -53.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.1992307 -5.5514383] m/s.The vehicle with ID 34 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 33 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 [7.0420074 5.522235 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-8.195357  -6.2480173] m/s.The vehicle with ID 3 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 [7.726857 6.276724] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, -3.0) m/s. Its current heading (yaw) is -2.64 radians with an angular velocity of -2.64 rad/s.

The most relevant actors are: A vehicle with ID 15 is 15.6 meters away at (-11.7, -10.3). A unknown object with ID 25 is 15.6 meters away at (-5.4, -14.7). A vehicle with ID 34 is 23.1 meters away at (-17.6, -15.0). A vehicle with ID 9 is 28.2 meters away at (22.7, 16.7). A vehicle with ID 37 is 30.1 meters away at (-22.4, -20.1). A vehicle with ID 33 is 33.8 meters away at (-27.2, -20.1). A vehicle with ID 32 is 57.0 meters away at (45.5, 34.4). A vehicle with ID 3 is 58.5 meters away at (-37.8, -44.6). A vehicle with ID 2 is 61.9 meters away at (-42.3, -45.1). A vehicle with ID 27 is 69.6 meters away at (-47.1, -51.2).

The vehicle with ID 15 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 vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.4084554 -5.1278353] m/s.The vehicle with ID 37 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 32 is traveling at a (x, y) velocity of [-8.225773 -6.371291] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (-4.7, -3.1) 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 vehicle with ID 15 is 4.8 meters away at (-1.5, -4.6). A vehicle with ID 34 is 11.8 meters away at (-7.4, -9.2). A vehicle with ID 37 is 20.6 meters away at (-13.4, -15.7). A vehicle with ID 33 is 23.8 meters away at (-18.2, -15.4). A vehicle with ID 9 is 25.2 meters away at (21.5, 13.2). A vehicle with ID 1 is 46.2 meters away at (-42.6, -17.7). A vehicle with ID 3 is 47.3 meters away at (-27.4, -38.6). A vehicle with ID 32 is 48.1 meters away at (39.6, 27.3). A vehicle with ID 2 is 50.7 meters away at (-32.0, -39.2). A vehicle with ID 5 is 62.1 meters away at (50.4, 36.2).

The vehicle with ID 15 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 [-0.31749395 -0.29102206] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.501826 -2.139251] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-1.6580276 -1.4284927] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.342889 -4.2087  ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.228753   -0.73452586] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-7.6645656 -6.147821 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.7408257 -6.0227323] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, -3.7) m/s. Its current heading (yaw) is -2.42 radians with an angular velocity of -2.42 rad/s.

The most relevant actors are: A vehicle with ID 34 is 5.4 meters away at (-1.4, -5.2). A vehicle with ID 15 is 6.8 meters away at (6.6, 1.4). A vehicle with ID 37 is 17.4 meters away at (-6.6, -16.1). A vehicle with ID 33 is 19.5 meters away at (-15.2, -12.2). A vehicle with ID 9 is 23.1 meters away at (19.5, 12.4). A unknown object with ID 19 is 30.8 meters away at (-30.3, -5.5). A vehicle with ID 1 is 34.9 meters away at (-33.0, -11.2). A vehicle with ID 3 is 36.6 meters away at (-18.5, -31.5). A vehicle with ID 2 is 39.7 meters away at (-23.2, -32.2). A vehicle with ID 32 is 41.5 meters away at (34.6, 23.0).

The vehicle with ID 34 is traveling at a (x, y) velocity of [-3.0305343 -2.9438777] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.1777705 -1.0182545] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-0.01421828 -4.700944  ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.913699  -1.3140154] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.7304606 -3.469022 ] m/s.The unknown object 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.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-6.6383038 -5.211988 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.7, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A vehicle with ID 79 is 9.5 meters away at (-3.1, -9.0). A cyclist with ID 72 is 10.0 meters away at (7.5, -6.6). A vehicle with ID 80 is 10.1 meters away at (2.3, -9.8). A vehicle with ID 84 is 11.0 meters away at (5.3, -9.6). A vehicle with ID 88 is 12.4 meters away at (7.9, -9.6). A vehicle with ID 77 is 14.8 meters away at (-11.3, -9.6). A vehicle with ID 96 is 16.2 meters away at (13.1, -9.5). A vehicle with ID 98 is 18.5 meters away at (15.8, -9.6). A vehicle with ID 78 is 19.3 meters away at (-16.8, -9.6). A vehicle with ID 101 is 20.7 meters away at (18.4, -9.5).

The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 72 is traveling at a (x, y) velocity of [0.15277188 0.14031374] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 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 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 101 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 (8.3, 0.1) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A vehicle with ID 115 is 9.0 meters away at (-8.1, 4.1). A vehicle with ID 98 is 9.7 meters away at (-0.2, -9.7). A vehicle with ID 101 is 9.8 meters away at (2.4, -9.5). A vehicle with ID 96 is 10.0 meters away at (-2.9, -9.6). A cyclist with ID 72 is 10.8 meters away at (-8.5, -6.7). A vehicle with ID 108 is 11.3 meters away at (5.1, -10.1). A vehicle with ID 88 is 12.6 meters away at (-8.1, -9.7). A vehicle with ID 84 is 14.3 meters away at (-10.6, -9.6). A vehicle with ID 80 is 16.9 meters away at (-13.7, -9.9). A vehicle with ID 62 is 17.2 meters away at (6.4, -16.0).

The vehicle with ID 115 is traveling at a (x, y) velocity of [-7.0111985   0.32892042] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 72 is traveling at a (x, y) velocity of [-0.00107288  0.04160854] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.0286552  -0.13648982] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 0.0) m/s. Its current heading (yaw) is 0.01 radians with an angular velocity of 0.01 rad/s.

The most relevant actors are: A pedestrian with ID 119 is 11.7 meters away at (9.4, -7.0). A vehicle with ID 108 is 15.5 meters away at (-11.7, -10.2). A vehicle with ID 101 is 17.4 meters away at (-14.5, -9.6). A vehicle with ID 98 is 19.7 meters away at (-17.1, -9.8). A vehicle with ID 59 is 21.7 meters away at (-1.3, -21.7). A vehicle with ID 96 is 22.0 meters away at (-19.8, -9.6). A vehicle with ID 110 is 25.3 meters away at (-11.3, -22.6). A vehicle with ID 88 is 26.9 meters away at (-25.0, -9.8). A vehicle with ID 109 is 28.7 meters away at (-17.0, -23.1). A vehicle with ID 84 is 29.3 meters away at (-27.6, -9.8).

The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.1698434   0.03300252] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 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 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, -0.0) m/s. Its current heading (yaw) is -0.00 radians with an angular velocity of -0.00 rad/s.

The most relevant actors are: A pedestrian with ID 119 is 12.7 meters away at (-10.5, -7.1). A vehicle with ID 41 is 16.3 meters away at (12.7, -10.3). A vehicle with ID 38 is 18.8 meters away at (15.8, -10.1). A vehicle with ID 35 is 20.9 meters away at (18.3, -10.0). A vehicle with ID 55 is 21.6 meters away at (3.0, -21.3). A vehicle with ID 32 is 23.5 meters away at (21.2, -10.3). A vehicle with ID 28 is 26.2 meters away at (24.0, -10.4). A vehicle with ID 25 is 28.8 meters away at (26.8, -10.5). A vehicle with ID 66 is 29.9 meters away at (18.6, -23.4). A vehicle with ID 108 is 31.0 meters away at (-29.2, -10.2).

The pedestrian with ID 119 is traveling at a (x, y) velocity of [-1.040158    0.04075232] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 108 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-3.2, -8.1). A vehicle with ID 21 is 21.3 meters away at (-0.2, 21.3). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 15.9). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.1). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.1). A vehicle with ID 31 is 62.9 meters away at (-19.0, -59.9). A pedestrian with ID 27 is 67.2 meters away at (20.8, 63.9). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4). A vehicle with ID 1 is 76.6 meters away at (-9.1, -76.0).

The vehicle with ID 15 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [0.01059736 0.01177084] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-9.040942   2.9606636] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.7 meters away at (-3.2, -8.1). A vehicle with ID 21 is 21.3 meters away at (0.0, 21.3). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 16.0). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.1). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.2). A vehicle with ID 31 is 62.9 meters away at (-19.0, -59.9). A vehicle with ID 7 is 74.6 meters away at (-22.2, -71.2). A vehicle with ID 1 is 74.8 meters away at (-26.3, -70.1). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4).

The vehicle with ID 15 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-9.006534   3.1315222] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-7.277401   2.2359807] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-3.2, -8.0). A vehicle with ID 21 is 21.4 meters away at (0.0, 21.4). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 16.1). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.1). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.2). A vehicle with ID 31 is 62.8 meters away at (-19.0, -59.9). A vehicle with ID 5 is 74.1 meters away at (-22.0, -70.8). A pedestrian with ID 26 is 75.2 meters away at (22.3, 71.8). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4).

The vehicle with ID 15 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-9.17511    3.1558828] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5157528 -1.3106462] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 15 is 8.6 meters away at (-3.1, -8.0). A vehicle with ID 21 is 21.3 meters away at (-0.1, 21.3). A vehicle with ID 20 is 36.4 meters away at (20.8, -29.9). A vehicle with ID 22 is 43.3 meters away at (40.2, 16.1). A vehicle with ID 32 is 55.2 meters away at (18.1, 52.2). A unknown object with ID 23 is 57.2 meters away at (33.7, 46.2). A vehicle with ID 31 is 62.8 meters away at (-18.9, -59.9). A pedestrian with ID 26 is 72.5 meters away at (21.3, 69.3). A vehicle with ID 8 is 74.7 meters away at (-24.8, -70.4). A vehicle with ID 30 is 76.1 meters away at (38.9, 65.4).

The vehicle with ID 15 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 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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 31 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 [-0.58030844 -1.2630804 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-9.158766   3.2819757] m/s.The vehicle with ID 30 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, -0.7) 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 4 is 10.8 meters away at (-9.0, 5.8). A unknown object with ID 57 is 12.2 meters away at (-0.8, -12.2). A unknown object with ID 73 is 14.6 meters away at (8.9, 11.6). A pedestrian with ID 74 is 15.6 meters away at (5.8, 14.5). A unknown object with ID 42 is 16.3 meters away at (10.6, 12.4). A vehicle with ID 76 is 16.4 meters away at (-7.8, -14.4). A unknown object with ID 87 is 26.6 meters away at (19.6, 18.0). A unknown object with ID 48 is 26.8 meters away at (-7.9, 25.6). A unknown object with ID 15 is 28.1 meters away at (-9.2, 26.6). A vehicle with ID 89 is 28.5 meters away at (21.7, 18.5).

The vehicle with ID 4 is traveling at a (x, y) velocity of [ 0.5953438 -0.4202984] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.1037749  0.0511248] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -3.4) m/s. Its current heading (yaw) is -1.05 radians with an angular velocity of -1.05 rad/s.

The most relevant actors are: A unknown object with ID 57 is 9.4 meters away at (-4.6, -8.3). A vehicle with ID 4 is 13.1 meters away at (-10.3, 8.0). A unknown object with ID 73 is 16.4 meters away at (5.0, 15.6). A unknown object with ID 42 is 17.8 meters away at (6.6, 16.6). A pedestrian with ID 74 is 18.7 meters away at (1.7, 18.7). A unknown object with ID 91 is 25.2 meters away at (25.1, 2.2). A unknown object with ID 87 is 27.1 meters away at (15.5, 22.2). A vehicle with ID 89 is 28.7 meters away at (17.7, 22.6). A vehicle with ID 85 is 28.9 meters away at (2.1, -28.8). A unknown object with ID 48 is 32.4 meters away at (-12.3, 30.0).

The unknown object with ID 57 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 [ 1.8329858 -1.1998327] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [-0.05649925  0.04423067] m/s.The unknown object with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-1.5845377  7.1516275] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -5.1) m/s. Its current heading (yaw) is -1.78 radians with an angular velocity of -1.78 rad/s.

The most relevant actors are: A unknown object with ID 57 is 5.8 meters away at (-5.7, 0.7). A unknown object with ID 16 is 6.4 meters away at (-6.2, -1.5). A vehicle with ID 85 is 8.6 meters away at (6.0, -6.2). A vehicle with ID 11 is 13.4 meters away at (-13.3, -1.6). A vehicle with ID 4 is 15.5 meters away at (-6.8, 13.9). A unknown object with ID 73 is 24.9 meters away at (3.9, 24.6). A unknown object with ID 42 is 26.0 meters away at (5.5, 25.4). A unknown object with ID 100 is 30.7 meters away at (30.7, 1.2). A vehicle with ID 5 is 31.9 meters away at (-21.2, 23.9). A unknown object with ID 87 is 34.3 meters away at (14.4, 31.1).

The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [6.3413715 6.2670627] m/s.The vehicle with ID 11 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 [ 1.3621738 -0.9039126] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 2.0422828 -1.1990513] m/s.The unknown object with ID 87 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, -4.2) m/s. Its current heading (yaw) is -2.11 radians with an angular velocity of -2.11 rad/s.

The most relevant actors are: A unknown object with ID 57 is 10.3 meters away at (-1.4, 10.2). A vehicle with ID 11 is 11.9 meters away at (-9.0, 7.8). A vehicle with ID 8 is 13.5 meters away at (-13.5, 0.0). A vehicle with ID 53 is 15.5 meters away at (-15.3, -2.4). A vehicle with ID 38 is 18.0 meters away at (-17.3, -5.0). A vehicle with ID 4 is 21.9 meters away at (-0.4, 21.9). A vehicle with ID 85 is 28.4 meters away at (25.6, 12.3). A vehicle with ID 5 is 32.8 meters away at (-12.1, 30.5). A unknown object with ID 73 is 35.0 meters away at (8.4, 34.0). A vehicle with ID 110 is 35.9 meters away at (11.3, -34.1).

The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 1.4357972 -1.3392179] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [7.565236  2.4459522] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 2.1805    -1.4152293] m/s.The unknown object with ID 73 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.2, -3.2) 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 unknown object with ID 23 is 10.4 meters away at (-10.0, -2.9). A unknown object with ID 22 is 11.4 meters away at (-11.3, -1.7). A unknown object with ID 29 is 11.6 meters away at (-8.5, -7.9). A unknown object with ID 26 is 11.8 meters away at (-11.1, -4.0). A unknown object with ID 28 is 13.0 meters away at (-12.0, -5.0). A unknown object with ID 25 is 13.1 meters away at (-12.7, -3.0). A unknown object with ID 27 is 13.9 meters away at (-13.3, -4.0). A unknown object with ID 21 is 15.5 meters away at (-15.4, 1.6). A vehicle with ID 17 is 19.3 meters away at (15.4, -11.7). A vehicle with ID 16 is 26.4 meters away at (20.7, -16.4).

The unknown object with ID 23 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 26 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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, -3.5) 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 17 is 10.6 meters away at (9.3, -5.1). A unknown object with ID 29 is 14.6 meters away at (-14.6, -1.4). A unknown object with ID 23 is 16.5 meters away at (-16.1, 3.6). A unknown object with ID 26 is 17.3 meters away at (-17.2, 2.4). A vehicle with ID 16 is 17.6 meters away at (14.6, -9.8). A unknown object with ID 22 is 18.1 meters away at (-17.4, 4.8). A unknown object with ID 28 is 18.2 meters away at (-18.1, 1.6). A unknown object with ID 25 is 19.2 meters away at (-18.9, 3.6). A unknown object with ID 27 is 19.6 meters away at (-19.4, 2.6). A unknown object with ID 21 is 23.0 meters away at (-21.5, 8.2).

The vehicle with ID 17 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (3.7, -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 vehicle with ID 17 is 3.1 meters away at (2.6, 1.7). A vehicle with ID 16 is 8.3 meters away at (7.8, -2.9). A vehicle with ID 24 is 16.9 meters away at (9.2, -14.2). A unknown object with ID 23 is 25.3 meters away at (-22.9, 10.7). A unknown object with ID 26 is 26.0 meters away at (-24.2, 9.5). A unknown object with ID 28 is 26.5 meters away at (-25.0, 8.7). A unknown object with ID 22 is 27.0 meters away at (-24.2, 12.0). A unknown object with ID 25 is 27.8 meters away at (-25.7, 10.7). A unknown object with ID 27 is 28.0 meters away at (-26.2, 9.7). A pedestrian with ID 19 is 28.5 meters away at (15.8, -23.7).

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 vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 0.00017245 -0.01678715] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, -2.9) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 16 is 3.3 meters away at (0.8, 3.2). A vehicle with ID 24 is 8.3 meters away at (2.2, -8.1). A vehicle with ID 17 is 9.1 meters away at (-4.4, 7.9). A unknown object with ID 3 is 15.3 meters away at (6.4, -13.9). A pedestrian with ID 19 is 19.6 meters away at (8.7, -17.5). A pedestrian with ID 20 is 20.4 meters away at (8.7, -18.4). A vehicle with ID 18 is 20.4 meters away at (17.3, -10.8). A vehicle with ID 2 is 26.8 meters away at (22.2, -15.0). A unknown object with ID 23 is 34.4 meters away at (-30.0, 17.0). A unknown object with ID 26 is 35.0 meters away at (-31.2, 15.8).

The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01536783 0.01075609] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.01447122 0.00740623] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A vehicle with ID 18 is 11.1 meters away at (-7.7, 8.0). A vehicle with ID 19 is 18.7 meters away at (-15.1, 11.0). A pedestrian with ID 6 is 42.6 meters away at (-24.3, 34.9). A vehicle with ID 22 is 45.0 meters away at (-11.6, -43.5). A vehicle with ID 21 is 45.3 meters away at (-40.0, 21.3).

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 pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00772783 -0.00140712] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [7.90637  9.328675] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A vehicle with ID 18 is 11.0 meters away at (-7.7, 7.9). A vehicle with ID 19 is 18.8 meters away at (-15.2, 11.0). A vehicle with ID 22 is 28.4 meters away at (1.4, -28.3). A pedestrian with ID 6 is 42.6 meters away at (-24.3, 34.9). A vehicle with ID 21 is 45.3 meters away at (-40.0, 21.3).

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 22 is traveling at a (x, y) velocity of [4.7408075 5.511037 ] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00025987 -0.00110754] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.77 radians with an angular velocity of -0.77 rad/s.

The most relevant actors are: A vehicle with ID 18 is 11.0 meters away at (-7.7, 7.9). A vehicle with ID 19 is 18.8 meters away at (-15.2, 11.1). A vehicle with ID 22 is 22.7 meters away at (7.3, -21.4). A pedestrian with ID 6 is 42.6 meters away at (-24.4, 35.0). A vehicle with ID 21 is 45.4 meters away at (-40.1, 21.3). A unknown object with ID 9 is 64.7 meters away at (59.1, -26.3). A pedestrian with ID 15 is 66.0 meters away at (65.7, -6.2).

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 22 is traveling at a (x, y) velocity of [1.4028624 1.7205248] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.03444498  0.04255982] m/s.The vehicle with ID 21 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 pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.00043322  0.00027071] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, -2.0) 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 18 is 13.3 meters away at (-9.3, 9.6). A vehicle with ID 22 is 19.5 meters away at (6.6, -18.4). A vehicle with ID 19 is 21.4 meters away at (-17.1, 12.9). A vehicle with ID 21 is 47.9 meters away at (-42.1, 23.0). A unknown object with ID 9 is 62.2 meters away at (57.2, -24.4). A pedestrian with ID 12 is 67.1 meters away at (45.6, 49.3).

The vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.4530329 -0.4143343] m/s.The vehicle with ID 22 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 21 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 pedestrian with ID 12 is traveling at a (x, y) velocity of [0.73286295 1.1868485 ] 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, -1.5) m/s. Its current heading (yaw) is -1.23 radians with an angular velocity of -1.23 rad/s.

The most relevant actors are: A pedestrian with ID 39 is 4.6 meters away at (-0.5, 4.6). A vehicle with ID 40 is 12.8 meters away at (-5.0, 11.8). A vehicle with ID 42 is 14.4 meters away at (-7.9, 12.0). A vehicle with ID 44 is 17.7 meters away at (-16.8, -5.4). A vehicle with ID 43 is 18.3 meters away at (-9.9, 15.4). A vehicle with ID 45 is 19.9 meters away at (-5.2, 19.2). A vehicle with ID 41 is 22.6 meters away at (14.1, -17.7). A vehicle with ID 46 is 24.7 meters away at (-6.9, 23.7). A cyclist with ID 47 is 25.3 meters away at (-25.2, 2.0). A vehicle with ID 50 is 29.6 meters away at (-28.6, 7.6).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [-2.7661428  0.9956168] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [-0.4221583   0.79503435] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [13.651871  -7.9398103] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 0.8335335 -1.2081321] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 0.6622659 -0.8307244] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, -3.1) m/s. Its current heading (yaw) is -0.94 radians with an angular velocity of -0.94 rad/s.

The most relevant actors are: A pedestrian with ID 39 is 14.2 meters away at (-8.2, 11.5). A vehicle with ID 40 is 18.3 meters away at (-7.6, 16.7). A vehicle with ID 44 is 19.4 meters away at (-19.4, -0.4). A vehicle with ID 42 is 19.8 meters away at (-10.4, 16.8). A vehicle with ID 43 is 23.8 meters away at (-12.5, 20.3). A vehicle with ID 45 is 25.2 meters away at (-7.7, 24.0). A cyclist with ID 47 is 25.9 meters away at (-25.6, 3.7). A cyclist with ID 52 is 28.9 meters away at (-28.8, 2.4). A vehicle with ID 46 is 29.8 meters away at (-9.5, 28.3). A vehicle with ID 50 is 30.9 meters away at (-29.3, 9.8).

The pedestrian with ID 39 is traveling at a (x, y) velocity of [-2.7805095  1.1569971] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 1.0368843 -1.8193848] m/s.The cyclist with ID 52 is traveling at a (x, y) velocity of [ 1.5760626 -3.0428207] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.3044488 -1.9185264] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.3, -3.7) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 44 is 27.8 meters away at (-27.0, 6.7). A vehicle with ID 40 is 28.2 meters away at (-15.2, 23.8). A pedestrian with ID 39 is 29.5 meters away at (-20.6, 21.1). A vehicle with ID 42 is 30.0 meters away at (-18.1, 23.9). A cyclist with ID 47 is 31.4 meters away at (-30.8, 6.0). A cyclist with ID 52 is 32.9 meters away at (-32.9, -1.1). A vehicle with ID 43 is 34.0 meters away at (-20.1, 27.4). A vehicle with ID 1 is 34.1 meters away at (-28.0, 19.5). A vehicle with ID 45 is 34.8 meters away at (-15.4, 31.2). A vehicle with ID 50 is 35.9 meters away at (-34.0, 11.7).

The vehicle with ID 44 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [-2.446333   1.3614335] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 1.3272239 -2.5378475] m/s.The cyclist with ID 52 is traveling at a (x, y) velocity of [ 1.2948272 -6.6310153] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.764279 -7.022942] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.465512  -2.9941719] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.6, -4.3) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A vehicle with ID 34 is 11.4 meters away at (-3.7, -10.8). A vehicle with ID 16 is 20.5 meters away at (-4.6, -20.0). A vehicle with ID 1 is 27.8 meters away at (-23.4, 15.0). A cyclist with ID 47 is 41.1 meters away at (-40.5, 7.1). A vehicle with ID 40 is 42.4 meters away at (-28.1, 31.7). A vehicle with ID 44 is 42.5 meters away at (-39.9, 14.7). A vehicle with ID 42 is 44.5 meters away at (-31.1, 31.9). A vehicle with ID 50 is 45.7 meters away at (-43.9, 12.8). A cyclist with ID 52 is 46.0 meters away at (-44.9, -9.9). A vehicle with ID 45 is 48.4 meters away at (-28.3, 39.3).

The vehicle with ID 34 is traveling at a (x, y) velocity of [-10.202639    5.4021816] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-6.810175   2.2788475] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.492891  -5.5585485] m/s.The cyclist with ID 47 is traveling at a (x, y) velocity of [ 1.4567002 -4.460593 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [ 1.4424446 -3.9679995] m/s.The cyclist with ID 52 is traveling at a (x, y) velocity of [ -0.3278958 -10.461203 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -3.3) 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 89 is 8.2 meters away at (8.1, -0.7). A vehicle with ID 86 is 12.1 meters away at (12.1, 0.0). A pedestrian with ID 90 is 12.2 meters away at (11.8, 2.8). A pedestrian with ID 91 is 12.7 meters away at (12.3, 3.4). A vehicle with ID 80 is 13.0 meters away at (-8.8, -9.5). A vehicle with ID 92 is 17.0 meters away at (3.8, 16.6). A vehicle with ID 82 is 18.0 meters away at (0.8, 18.0). A vehicle with ID 85 is 18.3 meters away at (-10.9, -14.7). A vehicle with ID 79 is 20.1 meters away at (-15.3, 13.0). A unknown object with ID 43 is 20.7 meters away at (19.7, -6.4).

The vehicle with ID 89 is traveling at a (x, y) velocity of [-1.2539108  1.0179062] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-0.9921831  0.7268028] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-0.9965381  0.7021716] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [-1.2375228 -2.9215884] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.9, -5.2) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A unknown object with ID 43 is 6.9 meters away at (6.6, 2.2). A vehicle with ID 86 is 8.6 meters away at (-0.9, 8.6). A vehicle with ID 76 is 10.1 meters away at (10.1, -0.7). A vehicle with ID 89 is 11.9 meters away at (-7.1, 9.5). A vehicle with ID 94 is 12.6 meters away at (-4.2, -11.9). A vehicle with ID 98 is 12.7 meters away at (-1.0, -12.7). A pedestrian with ID 90 is 13.2 meters away at (-3.2, 12.8). A pedestrian with ID 91 is 13.7 meters away at (-2.7, 13.4). A vehicle with ID 77 is 15.6 meters away at (14.9, -4.7). A vehicle with ID 37 is 19.2 meters away at (12.6, -14.5).

The unknown object with ID 43 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 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-1.3864921   0.95566154] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 90 is traveling at a (x, y) velocity of [-1.0224855   0.67250013] m/s.The pedestrian with ID 91 is traveling at a (x, y) velocity of [-1.0153775  0.7116325] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -5.9) m/s. Its current heading (yaw) is -0.69 radians with an angular velocity of -0.69 rad/s.

The most relevant actors are: A cyclist with ID 69 is 2.6 meters away at (1.2, 2.4). A vehicle with ID 37 is 3.4 meters away at (-1.0, -3.3). A vehicle with ID 73 is 5.7 meters away at (4.8, 3.0). A vehicle with ID 77 is 6.6 meters away at (1.2, 6.5). A vehicle with ID 30 is 7.5 meters away at (3.3, -6.7). A vehicle with ID 75 is 9.4 meters away at (9.3, -0.5). A vehicle with ID 76 is 11.0 meters away at (-3.5, 10.4). A vehicle with ID 27 is 12.8 meters away at (7.5, -10.4). A vehicle with ID 98 is 14.7 meters away at (-14.6, -1.5). A unknown object with ID 43 is 15.2 meters away at (-7.1, 13.4).

The cyclist with ID 69 is traveling at a (x, y) velocity of [-6.9673944  5.9361033] 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 77 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 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 [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 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.7, -5.6) 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 vehicle with ID 25 is 3.2 meters away at (-1.6, -2.8). A vehicle with ID 27 is 6.2 meters away at (-6.1, 1.1). A vehicle with ID 72 is 6.4 meters away at (6.0, 2.2). A vehicle with ID 19 is 7.6 meters away at (3.1, -7.0). A vehicle with ID 74 is 11.0 meters away at (10.9, -1.8). A vehicle with ID 30 is 11.3 meters away at (-10.2, 4.7). A vehicle with ID 75 is 11.7 meters away at (-4.2, 10.9). A vehicle with ID 16 is 12.4 meters away at (7.1, -10.1). A vehicle with ID 73 is 16.9 meters away at (-8.8, 14.5). A vehicle with ID 37 is 17.0 meters away at (-14.8, 8.3).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 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 74 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 75 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 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -0.8) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 9 is 30.7 meters away at (21.5, -21.9). A pedestrian with ID 11 is 48.3 meters away at (-45.3, 16.6).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-3.8881733  2.8647463] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0324575   0.47889537] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -0.9) 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 9 is 17.0 meters away at (10.4, -13.5). A vehicle with ID 8 is 38.3 meters away at (27.3, -26.9). A pedestrian with ID 11 is 53.2 meters away at (-49.6, 19.3).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.2042136  4.041901 ] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-3.769736  2.910863] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0386877  0.609702 ] 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, -0.7) 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 vehicle with ID 9 is 3.9 meters away at (-2.8, -2.6). A unknown object with ID 1 is 14.0 meters away at (-9.1, -10.7). A vehicle with ID 8 is 26.1 meters away at (17.5, -19.3). A pedestrian with ID 11 is 58.1 meters away at (-53.8, 22.1).

The vehicle with ID 9 is traveling at a (x, y) velocity of [-6.1471477  5.225926 ] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-4.30974    3.1930096] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.9121949   0.69624615] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.4) m/s. Its current heading (yaw) is -0.80 radians with an angular velocity of -0.80 rad/s.

The most relevant actors are: A vehicle with ID 8 is 13.0 meters away at (6.8, -11.1). A vehicle with ID 9 is 19.9 meters away at (-17.3, 9.8). A pedestrian with ID 10 is 61.0 meters away at (-58.3, 18.2). A pedestrian with ID 11 is 62.1 meters away at (-57.2, 24.3).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-5.2387786  4.000217 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-7.037167  6.142452] m/s.The pedestrian with ID 10 is traveling at a (x, y) velocity of [ 1.0563204  -0.02469082] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-1.0468013   0.52279496] 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, -2.2) m/s. Its current heading (yaw) is -1.94 radians with an angular velocity of -1.94 rad/s.

The most relevant actors are: A vehicle with ID 47 is 17.7 meters away at (-13.7, -11.3). A pedestrian with ID 49 is 18.1 meters away at (16.6, -7.3). A pedestrian with ID 50 is 18.1 meters away at (16.1, -8.4). A vehicle with ID 51 is 19.9 meters away at (-17.3, -9.9). A vehicle with ID 46 is 21.4 meters away at (3.9, 21.0). A vehicle with ID 52 is 25.1 meters away at (21.1, -13.6). A vehicle with ID 54 is 25.9 meters away at (-24.5, -8.2). A vehicle with ID 55 is 26.0 meters away at (14.1, -21.9). A vehicle with ID 5 is 28.8 meters away at (-6.3, -28.2). A vehicle with ID 53 is 28.9 meters away at (6.0, 28.3).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.3949053  0.3146814] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.4306567  0.5828065] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.7258806 -9.294786 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -4.5) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A vehicle with ID 47 is 12.3 meters away at (-11.4, -4.6). A vehicle with ID 51 is 15.3 meters away at (-15.0, -3.2). A pedestrian with ID 50 is 15.4 meters away at (15.3, -0.9). A pedestrian with ID 49 is 16.0 meters away at (16.0, 0.5). A vehicle with ID 34 is 20.4 meters away at (-17.4, 10.6). A vehicle with ID 43 is 21.2 meters away at (19.2, -8.9). A vehicle with ID 55 is 22.2 meters away at (16.3, -15.1). A vehicle with ID 54 is 22.4 meters away at (-22.3, -1.3). A vehicle with ID 52 is 24.4 meters away at (23.4, -6.9). A vehicle with ID 42 is 25.8 meters away at (-25.8, -0.3).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.5638386   0.37488624] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.5359614   0.40689206] m/s.The vehicle with ID 34 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 [-4.151993  1.249511] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 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.