The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -6.6) 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 10.2 meters away at (-8.0, 6.4). A vehicle with ID 51 is 14.0 meters away at (-11.6, 7.8). A vehicle with ID 43 is 18.6 meters away at (18.3, 3.6). A pedestrian with ID 50 is 19.8 meters away at (16.1, 11.6). A vehicle with ID 55 is 20.1 meters away at (19.7, -4.1). A pedestrian with ID 49 is 20.6 meters away at (16.5, 12.4). A vehicle with ID 54 is 21.2 meters away at (-18.9, 9.6). A vehicle with ID 42 is 24.7 meters away at (-22.4, 10.5). A vehicle with ID 34 is 25.8 meters away at (-14.0, 21.7). A vehicle with ID 52 is 27.1 meters away at (26.8, 4.2).

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 vehicle with ID 43 is traveling at a (x, y) velocity of [-0.9950383  0.297602 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.4323692  0.7449632] m/s.The vehicle with ID 55 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 [-1.4821075  0.5705186] m/s.The vehicle with ID 54 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -8.3) 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 47 is 21.8 meters away at (-3.4, 21.5). A vehicle with ID 51 is 24.0 meters away at (-6.6, 23.1). A vehicle with ID 11 is 28.3 meters away at (-4.3, -28.0). A vehicle with ID 43 is 28.7 meters away at (21.2, 19.4). A pedestrian with ID 50 is 34.5 meters away at (18.8, 28.9). A pedestrian with ID 49 is 35.1 meters away at (19.4, 29.3). A vehicle with ID 52 is 36.9 meters away at (31.5, 19.4). A vehicle with ID 34 is 37.9 meters away at (-9.1, 36.8). A vehicle with ID 59 is 39.8 meters away at (39.3, 6.6). A vehicle with ID 61 is 44.0 meters away at (43.7, 5.2).

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 vehicle with ID 11 is traveling at a (x, y) velocity of [ 3.1696098 10.292779 ] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-2.1392093  0.7083827] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1827495  0.9030889] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-1.0124562  1.1120816] m/s.The vehicle with ID 52 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 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [-0.322311    0.08000346] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -2.6) m/s. Its current heading (yaw) is -2.19 radians with an angular velocity of -2.19 rad/s.

The most relevant actors are: A cyclist with ID 9 is 7.0 meters away at (-3.0, -6.4). A vehicle with ID 3 is 9.8 meters away at (4.4, 8.7). A pedestrian with ID 29 is 17.9 meters away at (-17.7, -2.8). A pedestrian with ID 31 is 18.0 meters away at (-17.7, 3.5). A pedestrian with ID 30 is 19.0 meters away at (-18.6, -4.0). A pedestrian with ID 32 is 20.4 meters away at (-19.9, -4.6). A vehicle with ID 34 is 22.3 meters away at (10.2, -19.8). A pedestrian with ID 36 is 23.1 meters away at (-22.0, -7.0). A cyclist with ID 33 is 23.3 meters away at (-22.7, 5.4). A vehicle with ID 35 is 23.9 meters away at (6.9, -22.9).

The cyclist with ID 9 is traveling at a (x, y) velocity of [-2.882325 -2.117358] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.0477102 -2.718686 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.54531467 -2.2026703 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.5657423  0.98836464] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.49170488 -1.4162544 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.41607994 -1.4251848 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.5987933 1.4172813] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [ 0.01561464 -0.02059829] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -1.4) m/s. Its current heading (yaw) is -2.60 radians with an angular velocity of -2.60 rad/s.

The most relevant actors are: A cyclist with ID 9 is 6.2 meters away at (-4.4, -4.3). A vehicle with ID 3 is 9.7 meters away at (6.4, 7.3). A pedestrian with ID 29 is 14.9 meters away at (-14.6, -3.2). A pedestrian with ID 30 is 15.2 meters away at (-15.0, -2.3). A pedestrian with ID 31 is 15.6 meters away at (-12.1, 9.8). A pedestrian with ID 36 is 16.2 meters away at (-16.2, 0.2). A pedestrian with ID 32 is 16.6 meters away at (-16.4, -3.0). A cyclist with ID 33 is 20.6 meters away at (-18.2, 9.7). A vehicle with ID 34 is 21.3 meters away at (14.7, -15.5). A vehicle with ID 35 is 21.8 meters away at (11.4, -18.6).

The cyclist with ID 9 is traveling at a (x, y) velocity of [-3.1696408  -0.70772386] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-1.6653558 -2.9706535] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.9936762 -1.7942504] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.62970364 -1.3495817 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.4250284  0.91976535] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.50428873 1.3179041 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.6208861 -1.4630542] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.02529171  0.00356205] m/s.The vehicle with ID 34 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -0.7) m/s. Its current heading (yaw) is -2.86 radians with an angular velocity of -2.86 rad/s.

The most relevant actors are: A cyclist with ID 9 is 7.0 meters away at (-6.7, -2.1). A vehicle with ID 3 is 7.8 meters away at (6.7, 4.0). A pedestrian with ID 36 is 11.9 meters away at (-10.9, 4.9). A pedestrian with ID 30 is 12.0 meters away at (-11.7, -2.6). A pedestrian with ID 32 is 13.7 meters away at (-13.1, -3.9). A pedestrian with ID 29 is 14.4 meters away at (-12.9, -6.2). A pedestrian with ID 31 is 15.9 meters away at (-7.6, 14.0). A pedestrian with ID 38 is 17.0 meters away at (-9.8, -13.9). A cyclist with ID 33 is 18.1 meters away at (-14.0, 11.5). A pedestrian with ID 37 is 19.2 meters away at (7.9, -17.4).

The cyclist with ID 9 is traveling at a (x, y) velocity of [-3.6650555  0.7700216] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.0500453 -1.9734626] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.6256687 1.4108266] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.46525517 -1.0459207 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.34823015 -1.3788037 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.1796991 -2.320774 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.05263067 1.3852532 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3833295 -0.5430418] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [-0.00506131  0.00326869] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.46231812 1.6195116 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, -0.1) m/s. Its current heading (yaw) is -3.11 radians with an angular velocity of -3.11 rad/s.

The most relevant actors are: A pedestrian with ID 30 is 7.9 meters away at (-6.8, -4.1). A vehicle with ID 3 is 8.5 meters away at (8.3, 2.0). A pedestrian with ID 36 is 9.4 meters away at (-3.6, 8.7). A pedestrian with ID 32 is 9.8 meters away at (-7.9, -5.7). A cyclist with ID 9 is 10.1 meters away at (-10.0, 1.5). A pedestrian with ID 29 is 12.5 meters away at (-8.0, -9.6). A pedestrian with ID 38 is 14.0 meters away at (-0.9, -13.9). A cyclist with ID 33 is 14.8 meters away at (-8.0, 12.5). A pedestrian with ID 31 is 17.7 meters away at (-2.3, 17.5). A pedestrian with ID 37 is 20.1 meters away at (15.0, -13.3).

The pedestrian with ID 30 is traveling at a (x, y) velocity of [-0.49683696 -1.2636993 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-2.8109374 -1.361698 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.6181014 1.3561482] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.3447093 -1.4010048] m/s.The cyclist with ID 9 is traveling at a (x, y) velocity of [-5.5420837  1.5276889] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.17506102 -1.7319404 ] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.3423721 -0.4856159] m/s.The cyclist with ID 33 is traveling at a (x, y) velocity of [0.00012415 0.00472678] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.6599011  1.0911844] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [0.6251231 1.5250474] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 45 is 4.7 meters away at (-4.6, 1.1). A vehicle with ID 44 is 5.4 meters away at (1.8, 5.1). A vehicle with ID 11 is 6.9 meters away at (6.1, 3.1). A vehicle with ID 68 is 7.2 meters away at (-6.2, 3.6). A vehicle with ID 46 is 8.4 meters away at (1.2, 8.4). A vehicle with ID 10 is 11.0 meters away at (-10.5, -3.1). A vehicle with ID 53 is 13.7 meters away at (9.6, 9.7). A vehicle with ID 75 is 14.8 meters away at (7.4, 12.9). A vehicle with ID 55 is 16.2 meters away at (14.0, 8.1). A vehicle with ID 56 is 17.1 meters away at (-16.9, -2.5).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [1.06752    0.65894854] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.4431455 0.291129 ] m/s.The vehicle with ID 10 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 75 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 [1.2037071  0.78519493] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.73359454 0.46231833] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 45 is 4.7 meters away at (-4.6, 1.1). A vehicle with ID 44 is 6.3 meters away at (2.7, 5.7). A vehicle with ID 68 is 6.6 meters away at (-4.8, 4.5). A vehicle with ID 11 is 7.9 meters away at (7.0, 3.7). A vehicle with ID 46 is 9.4 meters away at (2.4, 9.1). A vehicle with ID 10 is 10.6 meters away at (-10.2, -2.9). A vehicle with ID 56 is 15.2 meters away at (-15.1, -1.4). A vehicle with ID 53 is 16.0 meters away at (11.6, 11.0). A vehicle with ID 75 is 16.8 meters away at (9.0, 14.2). A vehicle with ID 42 is 17.9 meters away at (-16.7, -6.5).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [1.4301041 0.8786048] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0.6656673  0.39074612] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [1.0339406  0.60602695] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [1.7885137 1.2171193] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0.8870371 0.5668329] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [2.588358  1.7044395] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [2.0603745 1.7766765] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 1.2) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 45 is 6.2 meters away at (-6.2, 0.2). A vehicle with ID 68 is 6.4 meters away at (-3.9, 5.1). A vehicle with ID 11 is 10.3 meters away at (9.0, 5.0). A vehicle with ID 44 is 10.6 meters away at (6.8, 8.1). A vehicle with ID 10 is 12.5 meters away at (-11.8, -3.9). A vehicle with ID 46 is 14.3 meters away at (6.8, 12.6). A vehicle with ID 56 is 14.7 meters away at (-14.6, -1.1). A vehicle with ID 42 is 19.8 meters away at (-18.3, -7.5). A unknown object with ID 4 is 21.4 meters away at (21.3, -2.2). A vehicle with ID 54 is 22.8 meters away at (-22.0, -6.0).

The vehicle with ID 45 is traveling at a (x, y) velocity of [1.2972363  0.84307325] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [2.5476465 1.6420743] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.709325  1.6909193] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [4.5708127 2.9051542] m/s.The vehicle with ID 10 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 [4.1147723 3.3981562] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [1.754026  1.0699099] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [1.4040183 0.8606593] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 2.0) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 45 is 5.6 meters away at (-5.5, 0.7). A vehicle with ID 68 is 7.0 meters away at (-1.7, 6.8). A vehicle with ID 11 is 10.9 meters away at (9.5, 5.3). A vehicle with ID 56 is 13.6 meters away at (-13.5, -0.5). A vehicle with ID 10 is 15.8 meters away at (-14.7, -5.7). A pedestrian with ID 47 is 16.2 meters away at (16.2, 0.2). A unknown object with ID 4 is 17.0 meters away at (16.1, -5.4). A pedestrian with ID 48 is 17.4 meters away at (17.4, 0.1). A vehicle with ID 44 is 18.2 meters away at (12.9, 12.8). A unknown object with ID 2 is 18.7 meters away at (17.9, -5.2).

The vehicle with ID 45 is traveling at a (x, y) velocity of [4.0771523 2.501966 ] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [4.489606  3.2354693] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [2.9620094 1.8601183] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [4.665222  2.8942876] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [2.6608741 1.6781892] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.65070456  0.85241646] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.58652323  0.9628752 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [6.374321  5.0852227] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.1, 9.9) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

The most relevant actors are: A vehicle with ID 5 is 48.1 meters away at (-21.8, 42.9). A vehicle with ID 4 is 50.9 meters away at (-20.5, 46.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [3.5245974 6.001288 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [3.6966712 7.2015495] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.7) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 9.6) m/s. Its current heading (yaw) is 1.96 radians with an angular velocity of 1.96 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.2, 9.9) m/s. Its current heading (yaw) is 1.97 radians with an angular velocity of 1.97 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 0.2) m/s. Its current heading (yaw) is 0.21 radians with an angular velocity of 0.21 rad/s.

The most relevant actors are: A vehicle with ID 19 is 7.9 meters away at (-6.4, -4.6). A pedestrian with ID 17 is 12.9 meters away at (-10.9, 6.9). A vehicle with ID 22 is 14.9 meters away at (-13.2, -7.0). A unknown object with ID 9 is 15.8 meters away at (15.4, 3.7). A unknown object with ID 11 is 15.9 meters away at (14.8, 5.9). A unknown object with ID 10 is 16.0 meters away at (15.9, 1.3). A unknown object with ID 12 is 16.5 meters away at (14.2, 8.4). A vehicle with ID 21 is 19.0 meters away at (-19.0, 0.4). A vehicle with ID 24 is 21.0 meters away at (-19.2, -8.6). A vehicle with ID 16 is 22.7 meters away at (2.2, 22.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.01786627 -0.01670147] m/s.The vehicle with ID 22 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 1.0) m/s. Its current heading (yaw) is 0.40 radians with an angular velocity of 0.40 rad/s.

The most relevant actors are: A vehicle with ID 19 is 11.0 meters away at (-9.6, -5.5). A unknown object with ID 9 is 12.5 meters away at (12.2, 2.6). A unknown object with ID 11 is 12.6 meters away at (11.6, 4.9). A unknown object with ID 10 is 12.8 meters away at (12.8, 0.3). A unknown object with ID 12 is 13.3 meters away at (11.1, 7.4). A pedestrian with ID 17 is 15.4 meters away at (-14.1, 6.0). A vehicle with ID 22 is 18.1 meters away at (-16.4, -7.9). A vehicle with ID 16 is 21.7 meters away at (-0.8, 21.7). A vehicle with ID 21 is 22.1 meters away at (-22.1, -0.4). A vehicle with ID 24 is 24.2 meters away at (-22.3, -9.5).

The vehicle with ID 19 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 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [-0.061708    0.04285663] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.3) m/s. Its current heading (yaw) is 1.15 radians with an angular velocity of 1.15 rad/s.

The most relevant actors are: A unknown object with ID 9 is 7.3 meters away at (6.9, -2.5). A unknown object with ID 10 is 8.8 meters away at (7.4, -4.8). A vehicle with ID 16 is 17.6 meters away at (-6.0, 16.6). A vehicle with ID 19 is 18.3 meters away at (-15.0, -10.5). A pedestrian with ID 17 is 19.6 meters away at (-19.5, 1.0). A vehicle with ID 15 is 23.8 meters away at (-7.4, 22.7). A vehicle with ID 22 is 25.3 meters away at (-21.7, -12.8). A vehicle with ID 21 is 28.0 meters away at (-27.5, -5.4). A vehicle with ID 14 is 29.5 meters away at (-8.7, 28.2). A vehicle with ID 24 is 31.2 meters away at (-27.7, -14.5).

The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 17 is traveling at a (x, y) velocity of [-0.00767885  0.00266084] m/s.The vehicle with ID 15 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 7.0) m/s. Its current heading (yaw) is 1.71 radians with an angular velocity of 1.71 rad/s.

The most relevant actors are: A vehicle with ID 16 is 8.5 meters away at (-6.9, 5.0). A vehicle with ID 15 is 13.9 meters away at (-8.4, 11.1). A unknown object with ID 9 is 15.2 meters away at (5.9, -14.0). A unknown object with ID 10 is 17.6 meters away at (6.5, -16.3). A vehicle with ID 14 is 19.3 meters away at (-9.7, 16.6). A pedestrian with ID 17 is 22.5 meters away at (-19.9, -10.5). A vehicle with ID 19 is 27.2 meters away at (-15.9, -22.1). A vehicle with ID 21 is 33.1 meters away at (-28.5, -16.9). A vehicle with ID 22 is 33.3 meters away at (-22.7, -24.4). A vehicle with ID 24 is 38.7 meters away at (-28.6, -26.1).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [0.6463086  0.19311821] 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 vehicle with ID 22 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -7.9) m/s. Its current heading (yaw) is -1.28 radians with an angular velocity of -1.28 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.0, -6.9) m/s. Its current heading (yaw) is -1.29 radians with an angular velocity of -1.29 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.6) 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 unknown object with ID 10 is 40.5 meters away at (-21.7, 34.3). A unknown object with ID 8 is 43.5 meters away at (-22.5, 37.2). A unknown object with ID 2 is 58.0 meters away at (-26.8, 51.4). A unknown object with ID 9 is 60.9 meters away at (-27.6, 54.3).

The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.4, 1.4) m/s. Its current heading (yaw) is 0.26 radians with an angular velocity of 0.26 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, 1.0) m/s. Its current heading (yaw) is 0.19 radians with an angular velocity of 0.19 rad/s.

The most relevant actors are: A unknown object with ID 47 is 6.4 meters away at (3.2, -5.6). A vehicle with ID 102 is 10.9 meters away at (8.3, -7.1). A vehicle with ID 103 is 13.2 meters away at (10.9, -7.5). A vehicle with ID 104 is 15.3 meters away at (13.4, -7.4). A unknown object with ID 101 is 22.5 meters away at (-20.6, -9.1). A vehicle with ID 109 is 29.1 meters away at (-21.7, 19.4). A vehicle with ID 105 is 31.2 meters away at (-27.0, -15.5). A vehicle with ID 98 is 31.9 meters away at (31.0, -7.7). A pedestrian with ID 108 is 32.0 meters away at (-30.4, 10.0). A vehicle with ID 106 is 32.3 meters away at (-21.3, -24.3).

The unknown object with ID 47 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 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 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 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [-0.02508283  0.01180026] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -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 104 is 7.9 meters away at (1.3, -7.8). A vehicle with ID 103 is 7.9 meters away at (-1.3, -7.8). A vehicle with ID 102 is 8.2 meters away at (-3.8, -7.3). A vehicle with ID 98 is 20.4 meters away at (18.8, -8.1). A vehicle with ID 46 is 24.6 meters away at (23.5, -7.3). A vehicle with ID 45 is 27.8 meters away at (26.8, -7.5). A unknown object with ID 101 is 34.1 meters away at (-32.8, -9.2). A vehicle with ID 71 is 38.7 meters away at (14.5, -35.9). A vehicle with ID 109 is 38.8 meters away at (-33.7, 19.3). A vehicle with ID 106 is 41.5 meters away at (-33.7, -24.3).

The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.2, -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 98 is 8.8 meters away at (3.8, -7.9). A vehicle with ID 46 is 11.1 meters away at (8.4, -7.3). A vehicle with ID 45 is 14.0 meters away at (11.8, -7.5). A vehicle with ID 104 is 15.7 meters away at (-13.7, -7.7). A vehicle with ID 103 is 18.1 meters away at (-16.3, -7.7). A vehicle with ID 102 is 20.1 meters away at (-18.8, -6.9). A unknown object with ID 56 is 32.7 meters away at (28.2, 16.7). A unknown object with ID 87 is 35.8 meters away at (32.0, 16.0). A vehicle with ID 99 is 37.2 meters away at (29.9, -22.1). A vehicle with ID 97 is 39.3 meters away at (32.6, -21.8).

The vehicle with ID 98 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 99 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, 0.2) m/s. Its current heading (yaw) is 0.02 radians with an angular velocity of 0.02 rad/s.

The most relevant actors are: A vehicle with ID 45 is 9.3 meters away at (-5.2, -7.6). A vehicle with ID 46 is 11.4 meters away at (-8.7, -7.5). A vehicle with ID 98 is 15.5 meters away at (-13.3, -8.1). A unknown object with ID 56 is 19.9 meters away at (11.0, 16.6). A vehicle with ID 37 is 20.1 meters away at (15.2, -13.2). A unknown object with ID 87 is 21.8 meters away at (14.9, 15.9). A vehicle with ID 99 is 25.6 meters away at (12.8, -22.2). A vehicle with ID 97 is 26.8 meters away at (15.5, -21.9). A vehicle with ID 31 is 26.9 meters away at (25.1, -9.6). A vehicle with ID 38 is 28.9 meters away at (18.1, -22.5).

The vehicle with ID 45 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 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.1887735  2.1892095] m/s.The unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 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 38 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 (-1.0, 0.3) m/s. Its current heading (yaw) is 2.83 radians with an angular velocity of 2.83 rad/s.

The most relevant actors are: A vehicle with ID 21 is 5.8 meters away at (5.2, 2.6). A vehicle with ID 22 is 6.8 meters away at (-3.2, -6.0). A vehicle with ID 24 is 9.3 meters away at (4.4, -8.2). A vehicle with ID 23 is 9.3 meters away at (8.7, -3.2). A vehicle with ID 25 is 9.5 meters away at (-9.2, 2.7). A vehicle with ID 28 is 10.1 meters away at (-9.3, -3.9). A vehicle with ID 26 is 10.8 meters away at (-2.9, -10.3). A vehicle with ID 29 is 14.4 meters away at (10.6, -9.8). A vehicle with ID 33 is 16.0 meters away at (-13.5, 8.6). A vehicle with ID 30 is 16.3 meters away at (16.3, -0.7).

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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [-1.8848832   0.59315926] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.30394235  0.10897321] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 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 (-0.2, 0.1) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 21 is 6.5 meters away at (6.1, 2.3). A vehicle with ID 22 is 6.7 meters away at (-2.2, -6.3). A vehicle with ID 23 is 7.3 meters away at (6.8, -2.6). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.6). A vehicle with ID 28 is 9.2 meters away at (-8.2, -4.2). A vehicle with ID 24 is 10.0 meters away at (5.3, -8.5). A vehicle with ID 26 is 10.8 meters away at (-1.9, -10.7). A vehicle with ID 33 is 14.9 meters away at (-12.5, 8.2). A vehicle with ID 31 is 15.0 meters away at (14.3, -4.6). A vehicle with ID 29 is 15.4 meters away at (11.6, -10.2).

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 23 is traveling at a (x, y) velocity of [-0.74115     0.22101931] m/s.The vehicle with ID 25 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 24 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 33 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 [-1.4451672   0.43480104] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 21 is 6.6 meters away at (6.3, 2.2). A vehicle with ID 23 is 6.7 meters away at (6.2, -2.5). A vehicle with ID 22 is 6.8 meters away at (-2.1, -6.4). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.5). A vehicle with ID 28 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 24 is 10.2 meters away at (5.5, -8.6). A vehicle with ID 26 is 10.9 meters away at (-1.8, -10.7). A vehicle with ID 31 is 13.3 meters away at (12.6, -4.2). A vehicle with ID 33 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 39 is 15.2 meters away at (-15.1, -1.7).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 28 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 26 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 21 is 6.6 meters away at (6.2, 2.2). A vehicle with ID 23 is 6.7 meters away at (6.2, -2.5). A vehicle with ID 22 is 6.8 meters away at (-2.1, -6.4). A vehicle with ID 25 is 9.1 meters away at (-8.7, 2.5). A vehicle with ID 28 is 9.2 meters away at (-8.1, -4.3). A vehicle with ID 24 is 10.2 meters away at (5.5, -8.6). A vehicle with ID 26 is 10.9 meters away at (-1.8, -10.8). A vehicle with ID 31 is 13.2 meters away at (12.5, -4.2). A vehicle with ID 33 is 14.8 meters away at (-12.3, 8.2). A vehicle with ID 39 is 15.2 meters away at (-15.1, -1.8).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 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 28 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 26 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 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, -6.2) 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 15 is 5.0 meters away at (4.7, -1.6). A vehicle with ID 13 is 7.6 meters away at (-1.3, 7.5). A unknown object with ID 12 is 14.9 meters away at (-10.0, 11.0). A vehicle with ID 14 is 23.5 meters away at (-11.6, 20.5). A vehicle with ID 16 is 23.8 meters away at (16.6, -17.0). A vehicle with ID 17 is 24.7 meters away at (-14.9, 19.7). A cyclist with ID 10 is 55.9 meters away at (38.3, -40.7). A vehicle with ID 3 is 58.9 meters away at (40.6, -42.7). A vehicle with ID 18 is 60.2 meters away at (-34.2, 49.5).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.312853  -3.1877234] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 1.605852  -2.2058713] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 1.7909358 -2.3498302] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 5.0218806 -6.887001 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.864565 -7.667162] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [-0.04243632 -0.04011848] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.15895642 -1.2437154 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 6.1934905 -7.603313 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, -6.1) m/s. Its current heading (yaw) is -1.03 radians with an angular velocity of -1.03 rad/s.

The most relevant actors are: A vehicle with ID 15 is 3.6 meters away at (3.6, 0.4). A vehicle with ID 13 is 13.3 meters away at (-4.7, 12.4). A vehicle with ID 17 is 21.7 meters away at (-12.8, 17.6). A vehicle with ID 16 is 29.3 meters away at (20.1, -21.2). A vehicle with ID 14 is 32.8 meters away at (-17.0, 28.1). A vehicle with ID 18 is 57.9 meters away at (-32.0, 48.3).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 4.7643237 -6.4222856] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.716236 -5.125858] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 4.9643545 -6.877847 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [ 6.8455267 -9.206249 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 1.9683411 -2.740306 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 4.504392  -5.8239956] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, -7.4) m/s. Its current heading (yaw) is -1.81 radians with an angular velocity of -1.81 rad/s.

The most relevant actors are: A vehicle with ID 15 is 12.0 meters away at (11.9, -1.4). A vehicle with ID 13 is 13.5 meters away at (1.3, 13.5). A vehicle with ID 17 is 18.8 meters away at (-6.2, 17.7). A vehicle with ID 14 is 38.3 meters away at (-15.6, 35.0). A vehicle with ID 16 is 41.9 meters away at (31.7, -27.4). A vehicle with ID 18 is 58.2 meters away at (-27.8, 51.1).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 6.8093557 -9.131333 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 5.3639297 -7.338189 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 5.504285 -7.451559] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.1526518 -4.3353558] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [  7.6392016 -10.373932 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 3.6646008 -4.883966 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -5.3) m/s. Its current heading (yaw) is -2.49 radians with an angular velocity of -2.49 rad/s.

The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (16.2, 13.7). A vehicle with ID 13 is 25.1 meters away at (23.3, 9.4). A vehicle with ID 14 is 36.9 meters away at (2.7, 36.8). A vehicle with ID 15 is 37.9 meters away at (36.7, -9.2). A vehicle with ID 18 is 54.6 meters away at (-9.6, 53.7).

The vehicle with ID 17 is traveling at a (x, y) velocity of [ 6.842043  -9.1249695] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 6.942409 -9.474003] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 5.1999984 -6.789643 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [  8.009163 -11.01396 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 4.930505 -6.38242 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.2) 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 vehicle with ID 19 is 4.7 meters away at (1.7, 4.4). A vehicle with ID 50 is 8.6 meters away at (-7.6, 4.0). A vehicle with ID 18 is 8.6 meters away at (5.4, 6.6). A cyclist with ID 35 is 16.2 meters away at (-12.2, 10.8). A vehicle with ID 24 is 17.1 meters away at (3.1, 16.8). A cyclist with ID 27 is 20.0 meters away at (-19.9, -1.0). A pedestrian with ID 30 is 20.6 meters away at (-10.4, 17.8). A vehicle with ID 33 is 20.9 meters away at (-14.4, 15.1). A pedestrian with ID 31 is 22.2 meters away at (-11.5, 19.0). A pedestrian with ID 39 is 24.3 meters away at (-13.0, 20.5).

The vehicle with ID 19 is traveling at a (x, y) velocity of [ 8.943752  -3.8758543] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 7.7346125 -3.4053435] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [ 9.931185  -4.0521383] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.3539109 -2.0746603] m/s.The cyclist with ID 27 is traveling at a (x, y) velocity of [-0.02870074 -7.2728205 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.2798778  -0.61939484] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.5462694 -2.4008684] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1317004  -0.64205915] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.2466514   0.67498136] 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 2.78 radians with an angular velocity of 2.78 rad/s.

The most relevant actors are: A vehicle with ID 50 is 8.4 meters away at (-7.4, 3.9). A cyclist with ID 35 is 10.0 meters away at (9.9, 1.8). A vehicle with ID 33 is 10.1 meters away at (-2.0, 9.9). A vehicle with ID 24 is 14.7 meters away at (4.0, 14.1). A pedestrian with ID 30 is 18.3 meters away at (-7.6, 16.6). A pedestrian with ID 31 is 19.9 meters away at (-9.0, 17.7). A vehicle with ID 19 is 22.0 meters away at (21.6, -4.2). A vehicle with ID 18 is 22.1 meters away at (22.1, -0.7). A pedestrian with ID 29 is 23.6 meters away at (-12.9, 19.8). A pedestrian with ID 39 is 26.4 meters away at (-15.1, 21.6).

The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [10.713548 -4.422024] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 6.775206  -2.7921646] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 0.29222998 -1.077329  ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.3609537  -0.47283262] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3050097 -0.5904207] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [10.547845  -4.4803033] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 8.194465  -3.5917497] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.97075087 -0.38841566] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-1.1781509  0.5589922] 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 2.78 radians with an angular velocity of 2.78 rad/s.

The most relevant actors are: A vehicle with ID 50 is 9.3 meters away at (-8.2, 4.4). A vehicle with ID 24 is 12.4 meters away at (5.0, 11.3). A vehicle with ID 33 is 13.0 meters away at (12.5, 3.7). A pedestrian with ID 30 is 16.3 meters away at (-4.8, 15.6). A pedestrian with ID 31 is 18.0 meters away at (-6.6, 16.7). A vehicle with ID 8 is 20.7 meters away at (15.7, -13.4). A pedestrian with ID 29 is 22.0 meters away at (-11.0, 19.0). A vehicle with ID 53 is 24.1 meters away at (3.1, 23.9). A vehicle with ID 44 is 26.4 meters away at (-24.0, 11.1). A vehicle with ID 36 is 27.4 meters away at (-25.7, -9.7).

The vehicle with ID 50 is traveling at a (x, y) velocity of [-1.2470747   0.82583237] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 1.1505471 -2.3771455] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 7.538696 -3.116554] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.4434232  -0.45066428] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1388862  -0.51894486] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-12.02268     5.0322523] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.9757925 -0.425564 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [-0.10288775 -1.5182316 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.4) m/s. Its current heading (yaw) is 2.72 radians with an angular velocity of 2.72 rad/s.

The most relevant actors are: A vehicle with ID 8 is 7.9 meters away at (-6.9, -3.8). A vehicle with ID 24 is 11.9 meters away at (11.0, 4.4). A pedestrian with ID 30 is 14.5 meters away at (-1.2, 14.4). A vehicle with ID 50 is 15.6 meters away at (-12.3, 9.7). A pedestrian with ID 31 is 16.1 meters away at (-3.4, 15.7). A pedestrian with ID 29 is 20.1 meters away at (-8.6, 18.2). A vehicle with ID 53 is 23.0 meters away at (3.6, 22.7). A vehicle with ID 44 is 25.6 meters away at (-23.2, 10.7). A vehicle with ID 36 is 26.9 meters away at (-25.0, -9.9). A vehicle with ID 33 is 28.6 meters away at (28.4, -3.2).

The vehicle with ID 8 is traveling at a (x, y) velocity of [-11.288485   4.837721] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 5.0153246 -3.9128685] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.7366014 -0.5420055] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-2.1420796  4.8629284] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.5827662  -0.46684688] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.124712   -0.43109852] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ 0.35973042 -0.24305756] m/s.The vehicle with ID 36 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 [ 7.6460333 -3.3001006] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 5.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 14 is 31.6 meters away at (24.0, -20.6). A unknown object with ID 38 is 46.9 meters away at (-43.2, -18.3). A vehicle with ID 50 is 47.2 meters away at (33.0, -33.8). A unknown object with ID 49 is 47.5 meters away at (-40.8, -24.3). A unknown object with ID 46 is 50.1 meters away at (-41.9, -27.5). A unknown object with ID 18 is 55.5 meters away at (-46.4, -30.4). A vehicle with ID 52 is 65.8 meters away at (45.7, -47.3). A unknown object with ID 24 is 75.1 meters away at (-18.4, -72.8). A unknown object with ID 43 is 77.2 meters away at (-45.7, -62.1).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-7.4958653  6.4049416] m/s.The unknown object with ID 38 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 [10.498904 -8.040587] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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 [ 8.504469  -7.3525667] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.4) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 14 is 30.5 meters away at (23.2, -19.8). A unknown object with ID 49 is 44.9 meters away at (-27.6, -35.4). A unknown object with ID 45 is 46.7 meters away at (-27.9, -37.5). A unknown object with ID 32 is 56.5 meters away at (-52.1, 22.0). A vehicle with ID 4 is 57.5 meters away at (-53.3, 21.6). A vehicle with ID 2 is 70.7 meters away at (-51.9, 48.0). A vehicle with ID 3 is 73.3 meters away at (-55.8, 47.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.663066  5.641277] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) 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 14 is 29.6 meters away at (22.5, -19.3). A unknown object with ID 40 is 33.8 meters away at (9.9, -32.4). A vehicle with ID 4 is 42.6 meters away at (-41.1, 11.2). A vehicle with ID 34 is 43.5 meters away at (17.3, -39.9). A unknown object with ID 33 is 51.0 meters away at (-31.6, 40.1). A vehicle with ID 2 is 54.8 meters away at (-39.8, 37.7). A vehicle with ID 3 is 57.4 meters away at (-43.7, 37.2). A vehicle with ID 9 is 63.1 meters away at (-45.6, 43.6). A vehicle with ID 12 is 69.7 meters away at (-52.9, 45.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.9106984  4.9867263] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.6) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 14 is 28.3 meters away at (21.4, -18.6). A vehicle with ID 4 is 30.0 meters away at (-30.0, 1.6). A vehicle with ID 2 is 40.3 meters away at (-28.8, 28.2). A vehicle with ID 3 is 42.7 meters away at (-32.6, 27.6). A unknown object with ID 19 is 46.7 meters away at (41.3, -21.6). A vehicle with ID 47 is 47.4 meters away at (22.8, -41.5). A vehicle with ID 9 is 48.5 meters away at (-34.6, 34.0). A unknown object with ID 31 is 51.6 meters away at (30.0, -42.0). A vehicle with ID 12 is 55.2 meters away at (-41.8, 36.0). A vehicle with ID 34 is 57.1 meters away at (28.6, -49.5).

The vehicle with ID 14 is traveling at a (x, y) velocity of [-5.8606    5.009213] m/s.The vehicle with ID 4 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 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 (5.5, -3.0) 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 unknown object with ID 78 is 8.6 meters away at (2.9, -8.1). A vehicle with ID 84 is 8.8 meters away at (8.8, -0.5). A pedestrian with ID 73 is 10.3 meters away at (-9.4, -4.3). A vehicle with ID 83 is 12.8 meters away at (12.8, -0.0). A vehicle with ID 77 is 13.3 meters away at (-8.4, -10.4). A vehicle with ID 82 is 13.7 meters away at (2.0, -13.6). A vehicle with ID 14 is 13.8 meters away at (-12.7, 5.3). A pedestrian with ID 75 is 14.3 meters away at (-2.2, 14.1). A vehicle with ID 85 is 15.8 meters away at (4.7, -15.1). A vehicle with ID 71 is 17.9 meters away at (17.5, -4.0).

The unknown object with ID 78 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 [-1.210343   0.9242316] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-0.11442578 -1.1273766 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 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 [ 2.0433526  -0.82063353] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [1.0760273 0.7018233] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -4.6) m/s. Its current heading (yaw) is -0.62 radians with an angular velocity of -0.62 rad/s.

The most relevant actors are: A vehicle with ID 71 is 6.4 meters away at (5.2, 3.8). A vehicle with ID 83 is 7.6 meters away at (0.6, 7.6). A unknown object with ID 58 is 8.2 meters away at (8.0, 1.8). A vehicle with ID 85 is 10.5 meters away at (-7.4, -7.4). A vehicle with ID 84 is 11.0 meters away at (-6.1, 9.2). A vehicle with ID 82 is 11.7 meters away at (-10.1, -5.9). A vehicle with ID 68 is 11.9 meters away at (11.8, -1.5). A vehicle with ID 90 is 14.3 meters away at (-0.2, -14.3). A unknown object with ID 50 is 15.3 meters away at (3.7, -14.8). A vehicle with ID 41 is 15.7 meters away at (10.2, -11.9).

The vehicle with ID 71 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 58 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 84 is traveling at a (x, y) velocity of [-2.7079854  1.7904344] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -5.6) 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 vehicle with ID 41 is 3.6 meters away at (-3.3, -1.6). A vehicle with ID 69 is 5.7 meters away at (2.6, 5.1). A vehicle with ID 70 is 7.0 meters away at (6.8, 1.6). A vehicle with ID 68 is 9.0 meters away at (-1.8, 8.8). A unknown object with ID 56 is 9.6 meters away at (3.3, -9.0). A vehicle with ID 66 is 10.7 meters away at (10.6, -1.7). A unknown object with ID 58 is 13.5 meters away at (-5.7, 12.2). A vehicle with ID 90 is 14.3 meters away at (-13.7, -4.0). A vehicle with ID 40 is 15.4 meters away at (9.3, -12.3). A vehicle with ID 71 is 16.3 meters away at (-8.3, 14.0).

The vehicle with ID 41 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 unknown object with ID 58 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.3) 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 40 is 3.9 meters away at (-3.6, -1.6). A unknown object with ID 43 is 4.9 meters away at (-2.1, -4.5). A pedestrian with ID 54 is 8.6 meters away at (-3.7, -7.8). A vehicle with ID 66 is 9.3 meters away at (-2.3, 9.0). A unknown object with ID 56 is 9.8 meters away at (-9.7, 1.8). A vehicle with ID 19 is 10.5 meters away at (5.4, -9.0). A vehicle with ID 70 is 13.9 meters away at (-6.2, 12.4). A vehicle with ID 67 is 15.0 meters away at (14.2, -4.9). A vehicle with ID 41 is 18.8 meters away at (-16.3, 9.3). A vehicle with ID 69 is 18.9 meters away at (-10.4, 15.8).

The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.02351261 0.01692955] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -5.8) m/s. Its current heading (yaw) is -1.65 radians with an angular velocity of -1.65 rad/s.

The most relevant actors are: A pedestrian with ID 32 is 13.3 meters away at (7.5, 11.0). A unknown object with ID 34 is 23.6 meters away at (-14.9, 18.3). A pedestrian with ID 35 is 29.8 meters away at (-21.1, -21.1). A vehicle with ID 36 is 36.1 meters away at (-1.5, 36.0). A unknown object with ID 38 is 43.6 meters away at (43.6, 0.8). A pedestrian with ID 33 is 68.0 meters away at (-29.7, -61.2).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.13564861 1.2641299 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.202374  1.3982996] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.9054071 -5.750854 ] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.3639541   0.13071448] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.7, -6.0) m/s. Its current heading (yaw) is -1.69 radians with an angular velocity of -1.69 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 20.7 meters away at (-19.6, -6.7). A pedestrian with ID 32 is 26.8 meters away at (8.7, 25.4). A unknown object with ID 34 is 33.2 meters away at (-13.9, 30.1). A vehicle with ID 36 is 40.4 meters away at (1.7, 40.4). A pedestrian with ID 33 is 57.0 meters away at (-28.6, -49.3).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.19671768 1.2281367 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.07779696 1.2483625 ] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 0.66566175 -1.796879  ] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03038409  0.00173166] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -6.2) m/s. Its current heading (yaw) is -1.75 radians with an angular velocity of -1.75 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 19.2 meters away at (-17.4, 7.9). A unknown object with ID 3 is 38.7 meters away at (-25.2, -29.5). A pedestrian with ID 32 is 41.8 meters away at (10.4, 40.4). A unknown object with ID 14 is 42.6 meters away at (-28.9, -31.2). A unknown object with ID 34 is 44.0 meters away at (-12.2, 42.2). A unknown object with ID 4 is 45.6 meters away at (-30.1, -34.2). A pedestrian with ID 33 is 45.9 meters away at (-26.9, -37.2). A vehicle with ID 36 is 51.4 meters away at (3.9, 51.3).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.11226088 1.3410476 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.03186189  1.5149189 ] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.00472981 -0.0061617 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, -5.9) m/s. Its current heading (yaw) is -1.82 radians with an angular velocity of -1.82 rad/s.

The most relevant actors are: A pedestrian with ID 35 is 27.1 meters away at (-14.6, 22.8). A unknown object with ID 3 is 28.2 meters away at (-22.4, -17.1). A unknown object with ID 29 is 30.3 meters away at (-25.3, -16.6). A unknown object with ID 14 is 32.4 meters away at (-26.2, -18.9). A pedestrian with ID 33 is 34.6 meters away at (-24.2, -24.8). A unknown object with ID 4 is 35.1 meters away at (-27.3, -22.0). A unknown object with ID 9 is 40.7 meters away at (-29.9, -27.7). A unknown object with ID 2 is 45.6 meters away at (-29.0, -35.2). A unknown object with ID 34 is 55.5 meters away at (-9.7, 54.6). A pedestrian with ID 32 is 57.5 meters away at (12.9, 56.0).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [0.2223523 1.183388 ] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.03223998 -0.02702023] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [0.01046898 1.4503245 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 2.5) m/s. Its current heading (yaw) is 2.47 radians with an angular velocity of 2.47 rad/s.

The most relevant actors are: A vehicle with ID 25 is 34.4 meters away at (30.6, 15.9). A vehicle with ID 27 is 59.0 meters away at (-57.5, -13.0). A vehicle with ID 3 is 59.8 meters away at (-48.4, 35.1). A vehicle with ID 26 is 69.9 meters away at (-52.4, 46.3). A vehicle with ID 4 is 75.9 meters away at (-57.1, 50.0).

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 3 is traveling at a (x, y) velocity of [ 4.144015  -3.2098503] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 2.8) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 25 is 39.1 meters away at (37.7, 10.4). A vehicle with ID 3 is 43.4 meters away at (-35.5, 25.0). A unknown object with ID 19 is 48.3 meters away at (-48.2, -2.2). A vehicle with ID 27 is 56.0 meters away at (-52.2, -20.2). A vehicle with ID 26 is 60.9 meters away at (-45.1, 40.8). A vehicle with ID 4 is 66.8 meters away at (-49.9, 44.4).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.5711  -1.15166] m/s.The unknown object with ID 19 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 [-0.45675614 -0.16080597] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 2.1) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 3 is 34.0 meters away at (-28.0, 19.2). A unknown object with ID 19 is 42.6 meters away at (-42.0, -7.1). A vehicle with ID 25 is 44.3 meters away at (44.0, 5.6). A vehicle with ID 26 is 52.9 meters away at (-38.8, 35.9). A vehicle with ID 27 is 53.9 meters away at (-46.8, -26.6). A vehicle with ID 14 is 56.4 meters away at (-56.3, 4.3). A vehicle with ID 4 is 58.8 meters away at (-43.6, 39.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, 0.5) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 3 is 28.5 meters away at (-23.8, 15.7). A vehicle with ID 25 is 47.5 meters away at (47.4, 3.2). A vehicle with ID 26 is 48.7 meters away at (-35.6, 33.3). A unknown object with ID 20 is 51.6 meters away at (43.2, -28.2). A vehicle with ID 27 is 53.0 meters away at (-43.9, -29.7). A vehicle with ID 14 is 53.0 meters away at (-53.0, 1.7). A vehicle with ID 4 is 54.6 meters away at (-40.3, 36.9). A vehicle with ID 5 is 65.8 meters away at (-55.8, -35.0).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 1.6640451 -1.3326361] 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 unknown object with ID 20 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -0.0) m/s. Its current heading (yaw) is -0.01 radians with an angular velocity of -0.01 rad/s.

The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (0.3, -9.6). A vehicle with ID 29 is 10.3 meters away at (3.0, -9.9). A vehicle with ID 33 is 10.7 meters away at (-5.0, -9.5). A vehicle with ID 35 is 13.9 meters away at (12.1, -6.8). A vehicle with ID 41 is 22.6 meters away at (2.5, -22.4). A vehicle with ID 45 is 23.4 meters away at (-5.5, -22.7). A vehicle with ID 47 is 23.9 meters away at (-8.1, -22.5). A pedestrian with ID 40 is 24.1 meters away at (-14.6, -19.2). A pedestrian with ID 39 is 24.2 meters away at (-15.4, -18.7). A vehicle with ID 36 is 24.4 meters away at (8.2, -23.0).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [0.06016224 0.6575961 ] m/s.The vehicle with ID 41 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.04475268 -0.01238595] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.0297266  0.00598588] m/s.The vehicle with ID 36 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 -0.06 radians with an angular velocity of -0.06 rad/s.

The most relevant actors are: A vehicle with ID 30 is 9.6 meters away at (-0.3, -9.6). A vehicle with ID 29 is 10.2 meters away at (2.4, -9.9). A vehicle with ID 33 is 11.1 meters away at (-5.6, -9.5). A vehicle with ID 35 is 12.3 meters away at (11.6, -4.2). A vehicle with ID 41 is 22.5 meters away at (1.9, -22.4). A vehicle with ID 45 is 23.5 meters away at (-6.1, -22.7). A vehicle with ID 47 is 24.1 meters away at (-8.7, -22.5). A vehicle with ID 36 is 24.2 meters away at (7.5, -23.0). A pedestrian with ID 39 is 24.6 meters away at (-16.0, -18.7). A pedestrian with ID 40 is 24.9 meters away at (-15.4, -19.6).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [-0.33344805  2.3885527 ] m/s.The vehicle with ID 41 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.02292977 -0.01165717] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01909732 -0.00187015] 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 -0.06 radians with an angular velocity of -0.06 rad/s.

The most relevant actors are: A vehicle with ID 35 is 8.5 meters away at (8.4, 1.2). A vehicle with ID 30 is 9.6 meters away at (-0.4, -9.6). A vehicle with ID 29 is 10.2 meters away at (2.4, -9.9). A vehicle with ID 33 is 11.1 meters away at (-5.7, -9.5). A vehicle with ID 41 is 22.5 meters away at (1.8, -22.4). A vehicle with ID 45 is 23.5 meters away at (-6.1, -22.6). A vehicle with ID 47 is 24.1 meters away at (-8.7, -22.4). A vehicle with ID 36 is 24.2 meters away at (7.4, -23.0). A pedestrian with ID 39 is 24.7 meters away at (-16.2, -18.6). A pedestrian with ID 40 is 24.9 meters away at (-15.4, -19.6).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-3.4206743  2.363071 ] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [-0.01402522 -0.00925939] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00989278 -0.00012716] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 0.0) m/s. Its current heading (yaw) is 0.02 radians with an angular velocity of 0.02 rad/s.

The most relevant actors are: A vehicle with ID 35 is 4.2 meters away at (-2.4, 3.4). A vehicle with ID 30 is 9.7 meters away at (-1.2, -9.6). A vehicle with ID 29 is 10.0 meters away at (1.5, -9.9). A vehicle with ID 33 is 11.6 meters away at (-6.6, -9.5). A vehicle with ID 41 is 22.4 meters away at (1.0, -22.4). A vehicle with ID 45 is 23.8 meters away at (-7.0, -22.7). A vehicle with ID 36 is 23.9 meters away at (6.5, -23.0). A vehicle with ID 47 is 24.5 meters away at (-9.7, -22.5). A vehicle with ID 34 is 25.2 meters away at (17.1, 18.5). A pedestrian with ID 39 is 25.3 meters away at (-17.1, -18.6).

The vehicle with ID 35 is traveling at a (x, y) velocity of [-6.5094266   0.17123765] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 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 [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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 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 [-0.044822   -0.03444765] 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, -0.4) m/s. Its current heading (yaw) is -0.35 radians with an angular velocity of -0.35 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 14.2 meters away at (10.1, -10.0). A unknown object with ID 18 is 26.8 meters away at (25.4, 8.7). A unknown object with ID 19 is 28.1 meters away at (26.1, 10.5). A pedestrian with ID 23 is 36.6 meters away at (36.4, -4.0). A vehicle with ID 25 is 38.3 meters away at (33.7, 18.1). A vehicle with ID 13 is 45.6 meters away at (42.6, -16.3). A pedestrian with ID 15 is 45.6 meters away at (39.9, -22.1). A pedestrian with ID 16 is 46.1 meters away at (40.1, -22.9). A pedestrian with ID 17 is 46.3 meters away at (40.6, -22.2). A unknown object with ID 26 is 46.3 meters away at (-41.0, 21.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.1851079 -1.2655022] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.00369755 -0.00304205] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ 3.6154792 -1.6592216] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.06061992 -1.3991871 ] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 0.05540541 -1.3847051 ] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.08883503 -1.379079  ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 radians with an angular velocity of -0.36 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 15.0 meters away at (9.0, -12.0). A unknown object with ID 18 is 26.2 meters away at (24.7, 8.8). A unknown object with ID 19 is 27.6 meters away at (25.5, 10.7). A pedestrian with ID 23 is 35.9 meters away at (35.7, -3.8). A pedestrian with ID 12 is 37.0 meters away at (33.9, 14.7). A vehicle with ID 25 is 37.8 meters away at (33.1, 18.4). A pedestrian with ID 27 is 46.2 meters away at (35.3, -29.8). A pedestrian with ID 15 is 46.8 meters away at (39.6, -25.0). A unknown object with ID 26 is 47.0 meters away at (-41.7, 21.7). A pedestrian with ID 17 is 47.5 meters away at (40.4, -25.0).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.316817  -1.0455824] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.01698847  0.00148755] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.28175944 -0.24279901] m/s.The vehicle with ID 25 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 [-1.0105388 -0.7855702] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [ 0.25292802 -1.2688442 ] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.32023284 -1.2910086 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 radians with an angular velocity of -0.36 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 16.6 meters away at (8.9, -14.0). A unknown object with ID 18 is 26.2 meters away at (24.6, 8.9). A unknown object with ID 19 is 27.6 meters away at (25.4, 10.7). A pedestrian with ID 12 is 35.7 meters away at (32.3, 15.4). A pedestrian with ID 23 is 35.8 meters away at (35.6, -3.8). A vehicle with ID 25 is 37.7 meters away at (33.0, 18.3). A pedestrian with ID 27 is 46.3 meters away at (34.0, -31.4). A unknown object with ID 26 is 47.1 meters away at (-41.7, 21.7). A pedestrian with ID 15 is 49.1 meters away at (40.6, -27.8). A pedestrian with ID 17 is 49.8 meters away at (41.4, -27.7).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.1885918 -0.8329565] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-1.207616   0.4297464] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00245305  0.0001864 ] m/s.The vehicle with ID 25 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 [-0.7590884 -0.7961937] m/s.The unknown object with ID 26 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 [ 0.6576739 -1.1628883] m/s.The pedestrian with ID 17 is traveling at a (x, y) velocity of [ 0.6685358 -1.2391785] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.36 radians with an angular velocity of -0.36 rad/s.

The most relevant actors are: A pedestrian with ID 11 is 17.5 meters away at (9.2, -14.8). A unknown object with ID 18 is 26.2 meters away at (24.6, 8.9). A unknown object with ID 19 is 27.5 meters away at (25.4, 10.7). A pedestrian with ID 12 is 35.6 meters away at (31.5, 16.7). A pedestrian with ID 23 is 35.8 meters away at (35.6, -3.7). A vehicle with ID 25 is 37.8 meters away at (33.0, 18.4). A pedestrian with ID 27 is 46.3 meters away at (32.9, -32.5). A unknown object with ID 26 is 47.1 meters away at (-41.8, 21.7). A unknown object with ID 5 is 51.2 meters away at (-45.7, 23.2). A pedestrian with ID 15 is 51.9 meters away at (42.0, -30.4).

The pedestrian with ID 11 is traveling at a (x, y) velocity of [ 0.16068497 -0.07328395] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [-0.03420962  0.12309723] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.00069452 -0.00042669] m/s.The vehicle with ID 25 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 [-0.46956667 -0.48072994] 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 5 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 [ 0.8684872 -1.0154321] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.6) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.6 meters away at (-0.7, 6.5). A unknown object with ID 21 is 9.3 meters away at (-9.1, 2.1). A unknown object with ID 26 is 13.8 meters away at (-13.6, -1.7). A unknown object with ID 23 is 15.1 meters away at (14.4, 4.7). A unknown object with ID 29 is 17.0 meters away at (4.8, -16.3). A unknown object with ID 27 is 19.7 meters away at (4.1, 19.3). A vehicle with ID 31 is 27.0 meters away at (-24.7, -10.8). A unknown object with ID 39 is 28.4 meters away at (11.4, -26.1). A unknown object with ID 41 is 30.7 meters away at (15.9, -26.2). A vehicle with ID 20 is 30.9 meters away at (20.6, 23.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 29 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 vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.44295517 -0.3243107 ] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 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 [6.0354385 9.209053 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.8 meters away at (-0.5, 6.8). A unknown object with ID 21 is 9.2 meters away at (-8.9, 2.3). A unknown object with ID 26 is 13.5 meters away at (-13.5, -1.4). A unknown object with ID 23 is 15.4 meters away at (14.6, 5.0). A unknown object with ID 29 is 16.7 meters away at (5.0, -16.0). A unknown object with ID 27 is 20.1 meters away at (4.3, 19.6). A unknown object with ID 39 is 28.3 meters away at (11.6, -25.8). A unknown object with ID 41 is 30.5 meters away at (16.1, -25.9). A vehicle with ID 36 is 32.1 meters away at (-31.5, -5.8). A unknown object with ID 43 is 32.5 meters away at (19.7, -25.9).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 29 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 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: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.9 meters away at (-0.5, 6.9). A unknown object with ID 21 is 9.2 meters away at (-8.8, 2.4). A unknown object with ID 26 is 13.5 meters away at (-13.4, -1.3). A unknown object with ID 23 is 15.5 meters away at (14.6, 5.1). A unknown object with ID 29 is 16.7 meters away at (5.1, -15.9). A unknown object with ID 27 is 20.1 meters away at (4.3, 19.7). A vehicle with ID 18 is 26.0 meters away at (-23.6, -11.0). A vehicle with ID 40 is 26.5 meters away at (-12.5, -23.4). A unknown object with ID 39 is 28.2 meters away at (11.6, -25.7). A unknown object with ID 41 is 30.5 meters away at (16.1, -25.9).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 29 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 vehicle with ID 18 is traveling at a (x, y) velocity of [ 0.60051864 -0.42218304] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0.584754  5.5150332] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.08 radians with an angular velocity of -2.08 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.9 meters away at (-0.5, 6.9). A unknown object with ID 21 is 9.2 meters away at (-8.8, 2.5). A unknown object with ID 26 is 13.4 meters away at (-13.4, -1.3). A unknown object with ID 23 is 15.5 meters away at (14.7, 5.2). A unknown object with ID 29 is 16.6 meters away at (5.1, -15.8). A vehicle with ID 40 is 19.9 meters away at (-15.5, -12.5). A unknown object with ID 27 is 20.2 meters away at (4.3, 19.7). A vehicle with ID 18 is 25.0 meters away at (-21.8, -12.2). A unknown object with ID 39 is 28.2 meters away at (11.7, -25.6). A vehicle with ID 36 is 29.7 meters away at (-28.8, -7.6).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 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 29 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 [-3.5417871  4.913422 ] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ 1.8474194 -1.1651306] m/s.The unknown object with ID 39 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 [ 2.0512495 -1.3041425] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 5.9) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 23 is 3.4 meters away at (2.8, -2.1). A vehicle with ID 28 is 6.5 meters away at (-5.8, 2.9). A vehicle with ID 29 is 8.0 meters away at (-7.6, -2.4). A vehicle with ID 31 is 10.1 meters away at (0.4, -10.1). A vehicle with ID 30 is 15.6 meters away at (-1.5, -15.5). A vehicle with ID 27 is 16.1 meters away at (-1.6, 16.1). A vehicle with ID 34 is 19.1 meters away at (-8.7, -17.0). A vehicle with ID 15 is 19.7 meters away at (19.7, 0.1). A vehicle with ID 32 is 20.3 meters away at (-2.7, -20.1). A vehicle with ID 26 is 22.1 meters away at (0.5, 22.0).

The vehicle with ID 23 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 29 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 30 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 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 5.6) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 27 is 6.9 meters away at (-5.3, 4.4). A vehicle with ID 26 is 10.9 meters away at (-3.3, 10.4). A vehicle with ID 28 is 12.9 meters away at (-9.5, -8.7). A vehicle with ID 23 is 13.7 meters away at (-1.0, -13.7). A vehicle with ID 29 is 18.1 meters away at (-11.3, -14.1). A vehicle with ID 24 is 19.4 meters away at (9.3, 17.0). A vehicle with ID 15 is 19.6 meters away at (15.9, -11.5). A vehicle with ID 31 is 22.2 meters away at (-3.5, -21.9). A vehicle with ID 30 is 27.8 meters away at (-5.2, -27.3). A vehicle with ID 34 is 31.3 meters away at (-12.4, -28.8).

The vehicle with ID 27 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 15 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 30 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.4) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 26 is 6.8 meters away at (-6.8, -0.6). A vehicle with ID 24 is 8.3 meters away at (5.8, 6.0). A vehicle with ID 27 is 10.9 meters away at (-8.8, -6.5). A vehicle with ID 28 is 23.7 meters away at (-13.0, -19.8). A vehicle with ID 23 is 25.1 meters away at (-4.5, -24.7). A vehicle with ID 29 is 29.2 meters away at (-14.8, -25.2). A pedestrian with ID 39 is 32.3 meters away at (16.0, 28.0). A pedestrian with ID 42 is 32.3 meters away at (15.3, 28.5). A vehicle with ID 31 is 33.6 meters away at (-7.1, -32.9). A vehicle with ID 30 is 39.3 meters away at (-8.7, -38.3).

The vehicle with ID 26 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 39 is traveling at a (x, y) velocity of [0.41955116 1.4201337 ] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.36219084 1.3848475 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.7, 4.8) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A vehicle with ID 24 is 4.8 meters away at (2.6, -4.0). A vehicle with ID 26 is 14.6 meters away at (-10.0, -10.7). A vehicle with ID 27 is 20.6 meters away at (-12.0, -16.7). A pedestrian with ID 42 is 24.7 meters away at (12.7, 21.2). A pedestrian with ID 39 is 24.7 meters away at (13.5, 20.7). A vehicle with ID 3 is 27.8 meters away at (-5.8, 27.2). A vehicle with ID 28 is 34.0 meters away at (-16.3, -29.9). A vehicle with ID 23 is 35.7 meters away at (-7.7, -34.8). A vehicle with ID 29 is 39.7 meters away at (-18.0, -35.3). A vehicle with ID 7 is 43.6 meters away at (-11.4, 42.1).

The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 42 is traveling at a (x, y) velocity of [0.40113991 1.3854488 ] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.43886513 1.3623625 ] m/s.The vehicle with ID 3 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 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.