The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 5.5) m/s. Its current heading (yaw) is 1.87 radians with an angular velocity of 1.87 rad/s.

The most relevant actors are: A vehicle with ID 77 is 6.2 meters away at (-1.3, -6.0). A vehicle with ID 80 is 11.3 meters away at (9.5, -6.1). A vehicle with ID 86 is 21.0 meters away at (3.6, -20.6). A vehicle with ID 84 is 21.0 meters away at (13.6, 16.0). A vehicle with ID 12 is 38.6 meters away at (6.2, 38.1). A vehicle with ID 13 is 39.4 meters away at (10.8, 37.9). A pedestrian with ID 92 is 45.8 meters away at (4.5, 45.6). A pedestrian with ID 93 is 46.4 meters away at (5.3, 46.1). A vehicle with ID 90 is 49.4 meters away at (38.7, 30.8). A vehicle with ID 85 is 49.9 meters away at (3.7, 49.8).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-1.4925151  3.1789181] m/s.The vehicle with ID 84 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 1.0425117  -0.34377173] m/s.The pedestrian with ID 93 is traveling at a (x, y) velocity of [ 0.98269486 -0.37871894] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 5.5) m/s. Its current heading (yaw) is 1.84 radians with an angular velocity of 1.84 rad/s.

The most relevant actors are: A vehicle with ID 77 is 16.9 meters away at (1.9, -16.8). A vehicle with ID 84 is 17.5 meters away at (16.7, 5.1). A vehicle with ID 80 is 21.2 meters away at (12.8, -16.9). A vehicle with ID 86 is 26.0 meters away at (4.8, -25.6). A unknown object with ID 41 is 26.9 meters away at (10.0, 24.9). A vehicle with ID 12 is 28.8 meters away at (9.4, 27.2). A vehicle with ID 13 is 30.5 meters away at (14.1, 27.0). A vehicle with ID 16 is 31.5 meters away at (16.6, 26.7). A vehicle with ID 18 is 34.0 meters away at (21.4, 26.4). A pedestrian with ID 92 is 35.4 meters away at (10.1, 33.9).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [-0.5359585  1.9397391] m/s.The unknown object with ID 41 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 13 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [ 1.104887   -0.37109652] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 5.1) 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 vehicle with ID 84 is 20.4 meters away at (19.6, -5.6). A vehicle with ID 12 is 20.6 meters away at (12.2, 16.7). A vehicle with ID 13 is 23.6 meters away at (16.9, 16.4). A vehicle with ID 16 is 25.3 meters away at (19.4, 16.2). A unknown object with ID 76 is 27.5 meters away at (27.4, -2.0). A vehicle with ID 77 is 27.7 meters away at (4.7, -27.3). A vehicle with ID 18 is 28.9 meters away at (24.2, 15.7). A vehicle with ID 81 is 29.6 meters away at (6.3, 29.0). A vehicle with ID 85 is 29.8 meters away at (9.7, 28.2). A vehicle with ID 8 is 31.0 meters away at (12.6, 28.3).

The vehicle with ID 84 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 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 76 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 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 3.4) 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 12 is 16.5 meters away at (14.3, 8.3). A vehicle with ID 13 is 20.7 meters away at (19.1, 8.1). A vehicle with ID 17 is 21.2 meters away at (-0.8, 21.2). A vehicle with ID 81 is 22.2 meters away at (8.4, 20.5). A vehicle with ID 16 is 22.9 meters away at (21.5, 7.8). A vehicle with ID 85 is 23.0 meters away at (11.8, 19.7). A pedestrian with ID 58 is 23.9 meters away at (19.9, 13.2). A pedestrian with ID 69 is 24.5 meters away at (20.4, 13.6). A vehicle with ID 8 is 24.6 meters away at (14.7, 19.7). A vehicle with ID 84 is 25.9 meters away at (21.8, -14.0).

The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 1.3499672 -5.733586 ] m/s.The vehicle with ID 81 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 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 1.0246967 -0.3290943] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.0818696 -0.3245698] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 25 is 20.0 meters away at (0.7, 20.0). A vehicle with ID 11 is 29.2 meters away at (21.9, 19.4). A vehicle with ID 15 is 31.7 meters away at (10.7, 29.8). A vehicle with ID 24 is 37.6 meters away at (-17.7, -33.2). A pedestrian with ID 18 is 41.1 meters away at (23.9, 33.4). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A vehicle with ID 26 is 56.8 meters away at (-23.7, -51.6). A vehicle with ID 27 is 61.6 meters away at (22.5, 57.4).

The vehicle with ID 10 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 [ 1.4877431 -4.608807 ] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.8983097 -2.4327261] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-5.3427744  1.8220636] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00299948 0.00321347] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.01009526 0.00107471] 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.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 25 is 10.0 meters away at (0.3, 10.0). A vehicle with ID 7 is 26.8 meters away at (-0.9, 26.8). A vehicle with ID 15 is 33.7 meters away at (-1.1, 33.7). A vehicle with ID 2 is 34.5 meters away at (23.3, 25.5). A vehicle with ID 24 is 37.7 meters away at (-17.7, -33.2). A pedestrian with ID 18 is 41.2 meters away at (23.9, 33.5). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A pedestrian with ID 21 is 43.2 meters away at (28.3, 32.6). A vehicle with ID 26 is 56.8 meters away at (-23.7, -51.6).

The vehicle with ID 10 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 [-1.4833034 -5.352765 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 7.9321017 -2.7062376] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.477161   2.1507828] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.0513973  2.0971203] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [1.4778131e-03 7.2197981e-05] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00331388 -0.00465325] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00397177  0.00384434] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 25 is 3.9 meters away at (-3.6, -1.5). A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 7 is 26.7 meters away at (16.5, 21.0). A vehicle with ID 2 is 31.7 meters away at (11.6, 29.5). A vehicle with ID 24 is 37.6 meters away at (-17.7, -33.2). A vehicle with ID 9 is 37.8 meters away at (-19.0, 32.7). A vehicle with ID 15 is 40.6 meters away at (-14.1, 38.0). A pedestrian with ID 18 is 41.2 meters away at (23.9, 33.5). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A pedestrian with ID 21 is 43.2 meters away at (28.1, 32.8).

The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.1428478 -6.1416187] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 9.345088  -3.1298242] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-5.978604  2.017075] m/s.The vehicle with ID 24 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 [10.456499  -3.5865653] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-6.646332   2.2789037] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00147378 0.00799408] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.00042917 -0.00020929] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.00983081  0.00896795] m/s.

Instruction: Sharp right turn approaching


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

The most relevant actors are: A vehicle with ID 10 is 6.3 meters away at (-5.3, 3.3). A vehicle with ID 25 is 16.7 meters away at (-8.1, -14.6). A vehicle with ID 9 is 25.4 meters away at (3.1, 25.3). A vehicle with ID 2 is 33.8 meters away at (-1.2, 33.8). A vehicle with ID 6 is 34.6 meters away at (23.5, 25.4). A vehicle with ID 24 is 37.7 meters away at (-17.7, -33.3). A pedestrian with ID 18 is 41.2 meters away at (23.9, 33.5). A pedestrian with ID 19 is 41.2 meters away at (25.2, 32.6). A pedestrian with ID 21 is 43.2 meters away at (28.1, 32.8). A vehicle with ID 12 is 45.7 meters away at (-25.2, 38.1).

The vehicle with ID 10 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 [-2.266931 -6.854625] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [10.683415  -3.5396748] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-6.9474063  2.3625572] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-6.717703   2.4839172] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.00227401 -0.00111043] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.0055641  0.00194423] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.02486649  0.00740439] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [ 7.5390315 -2.590607 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 0.3) m/s. Its current heading (yaw) is 1.35 radians with an angular velocity of 1.35 rad/s.

The most relevant actors are: A vehicle with ID 30 is 9.2 meters away at (2.2, 8.9). A vehicle with ID 18 is 11.8 meters away at (-3.4, -11.3). A pedestrian with ID 25 is 34.0 meters away at (33.1, 7.5). A vehicle with ID 27 is 34.4 meters away at (32.4, 11.5). A vehicle with ID 41 is 38.0 meters away at (3.6, -37.8). A pedestrian with ID 33 is 39.2 meters away at (27.3, 28.1). A pedestrian with ID 36 is 40.0 meters away at (27.6, 29.0). A vehicle with ID 26 is 42.7 meters away at (17.5, 38.9). A vehicle with ID 38 is 43.1 meters away at (21.0, 37.6). A unknown object with ID 32 is 43.6 meters away at (13.6, 41.4).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.21344237 0.6883176 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.81353086 -0.9066364 ] m/s.The vehicle with ID 27 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.27996618 -0.10382284] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.2139688  0.08678441] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35 radians with an angular velocity of 1.35 rad/s.

The most relevant actors are: A vehicle with ID 30 is 9.1 meters away at (2.2, 8.8). A vehicle with ID 18 is 10.7 meters away at (-3.1, -10.2). A unknown object with ID 12 is 21.3 meters away at (-5.4, 20.6). A cyclist with ID 39 is 30.1 meters away at (-6.7, -29.4). A pedestrian with ID 25 is 31.9 meters away at (31.4, 5.3). A vehicle with ID 27 is 34.3 meters away at (32.4, 11.4). A vehicle with ID 41 is 38.1 meters away at (3.5, -37.9). A pedestrian with ID 33 is 39.6 meters away at (28.0, 28.0). A pedestrian with ID 36 is 40.4 meters away at (28.1, 29.0). A vehicle with ID 26 is 42.5 meters away at (17.5, 38.7).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.11731616 0.366903  ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [4.750592 9.05909 ] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.64398414 -1.0153115 ] m/s.The vehicle with ID 27 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.36312634 -0.06829529] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.49924436 -0.046435  ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 1.35 radians with an angular velocity of 1.35 rad/s.

The most relevant actors are: A vehicle with ID 30 is 9.1 meters away at (2.1, 8.8). A vehicle with ID 18 is 10.1 meters away at (-2.9, -9.7). A cyclist with ID 39 is 13.7 meters away at (0.2, -13.7). A unknown object with ID 12 is 21.3 meters away at (-5.4, 20.7). A pedestrian with ID 25 is 30.4 meters away at (30.3, 2.9). A vehicle with ID 27 is 34.3 meters away at (32.3, 11.4). A vehicle with ID 41 is 38.2 meters away at (3.5, -38.0). A pedestrian with ID 33 is 40.4 meters away at (28.9, 28.3). A pedestrian with ID 36 is 41.4 meters away at (29.1, 29.4). A vehicle with ID 26 is 42.5 meters away at (17.5, 38.7).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.13766612 0.418511  ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [2.7445872 7.592032 ] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.4140778 -1.2182622] m/s.The vehicle with ID 27 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [0.67619705 0.12247493] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.70717156 0.19233216] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.01067084 -0.71453315] 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, 0.2) m/s. Its current heading (yaw) is 1.35 radians with an angular velocity of 1.35 rad/s.

The most relevant actors are: A cyclist with ID 39 is 4.5 meters away at (4.5, -0.1). A vehicle with ID 18 is 9.2 meters away at (-2.6, -8.8). A vehicle with ID 30 is 13.1 meters away at (2.9, 12.8). A vehicle with ID 27 is 34.2 meters away at (32.3, 11.2). A vehicle with ID 26 is 36.5 meters away at (17.2, 32.2). A vehicle with ID 41 is 38.3 meters away at (3.5, -38.1). A pedestrian with ID 33 is 41.3 meters away at (29.9, 28.5). A pedestrian with ID 36 is 42.2 meters away at (30.2, 29.5). A vehicle with ID 38 is 42.4 meters away at (21.1, 36.8). A unknown object with ID 32 is 43.3 meters away at (13.6, 41.2).

The cyclist with ID 39 is traveling at a (x, y) velocity of [1.8958048 5.787496 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0.08687165 0.33275118] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0.6843136 4.3031373] m/s.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 [-0.34677166 -6.0163975 ] m/s.The vehicle with ID 41 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 [ 0.61827195 -0.04048412] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [ 0.64523    -0.16657922] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 0.02129702 -1.8813933 ] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, 0.6) m/s. Its current heading (yaw) is 2.58 radians with an angular velocity of 2.58 rad/s.

The most relevant actors are: A unknown object with ID 43 is 2.8 meters away at (2.7, 0.7). A vehicle with ID 41 is 3.3 meters away at (-1.7, -2.8). A unknown object with ID 48 is 3.3 meters away at (-1.0, 3.1). A unknown object with ID 46 is 11.3 meters away at (10.5, -4.3). A cyclist with ID 1 is 11.9 meters away at (-7.1, 9.5). A vehicle with ID 2 is 16.8 meters away at (12.0, -11.8). A unknown object with ID 54 is 17.0 meters away at (-8.8, -14.5). A vehicle with ID 55 is 17.1 meters away at (2.0, -17.0). A unknown object with ID 57 is 18.7 meters away at (-10.9, -15.2). A unknown object with ID 52 is 19.4 meters away at (-1.5, -19.3).

The unknown object with ID 43 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 unknown object with ID 48 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 cyclist with ID 1 is traveling at a (x, y) velocity of [0.0002885  0.01764311] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-2.9077117  1.9030684] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 8.92985   -5.7877116] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A unknown object with ID 48 is 2.9 meters away at (-0.6, 2.9). A unknown object with ID 43 is 3.1 meters away at (3.1, 0.4). A vehicle with ID 41 is 3.3 meters away at (-1.3, -3.1). A unknown object with ID 32 is 7.6 meters away at (0.9, -7.5). A cyclist with ID 1 is 11.4 meters away at (-6.7, 9.2). A unknown object with ID 46 is 11.8 meters away at (10.9, -4.6). A vehicle with ID 2 is 12.7 meters away at (8.5, -9.5). A unknown object with ID 54 is 17.0 meters away at (-8.4, -14.8). A unknown object with ID 57 is 18.6 meters away at (-10.5, -15.4). A unknown object with ID 52 is 19.7 meters away at (-1.1, -19.6).

The unknown object with ID 48 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 vehicle with ID 41 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 cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.02673804 -0.00089983] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-1.1387626  0.7623695] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A unknown object with ID 48 is 2.9 meters away at (-0.5, 2.8). A unknown object with ID 43 is 3.2 meters away at (3.2, 0.4). A vehicle with ID 41 is 3.4 meters away at (-1.2, -3.2). A vehicle with ID 2 is 11.3 meters away at (7.3, -8.6). A cyclist with ID 1 is 11.3 meters away at (-6.7, 9.1). A unknown object with ID 46 is 11.9 meters away at (10.9, -4.7). A unknown object with ID 54 is 17.1 meters away at (-8.4, -14.9). A unknown object with ID 57 is 18.6 meters away at (-10.4, -15.5). A unknown object with ID 52 is 19.7 meters away at (-1.1, -19.7). A unknown object with ID 49 is 20.6 meters away at (18.3, -9.4).

The unknown object with ID 48 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 vehicle with ID 41 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 cyclist with ID 1 is traveling at a (x, y) velocity of [-0.00750738 -0.00652769] 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.6) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A unknown object with ID 48 is 2.3 meters away at (2.0, 1.1). A vehicle with ID 41 is 4.5 meters away at (0.8, -4.4). A unknown object with ID 43 is 5.8 meters away at (5.6, -1.3). A cyclist with ID 1 is 8.5 meters away at (-4.1, 7.4). A vehicle with ID 2 is 13.9 meters away at (9.6, -10.2). A unknown object with ID 46 is 14.9 meters away at (13.5, -6.4). A unknown object with ID 54 is 17.5 meters away at (-5.8, -16.5). A unknown object with ID 57 is 18.9 meters away at (-7.8, -17.2). A unknown object with ID 52 is 21.4 meters away at (1.5, -21.4). A unknown object with ID 49 is 23.6 meters away at (20.8, -11.1).

The unknown object with ID 48 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 [-0.95156693  0.6257772 ] m/s.The unknown object with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 1 is traveling at a (x, y) velocity of [ 0.04817132 -0.0237122 ] m/s.The vehicle with ID 2 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 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 10 is 14.0 meters away at (11.8, 7.4). A vehicle with ID 11 is 14.6 meters away at (-4.8, -13.8). A vehicle with ID 12 is 17.1 meters away at (2.7, -16.8). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.9). A vehicle with ID 13 is 20.6 meters away at (-7.2, -19.3). A vehicle with ID 14 is 20.8 meters away at (13.1, -16.2). A vehicle with ID 16 is 21.8 meters away at (7.0, 20.6). A vehicle with ID 17 is 22.4 meters away at (1.2, -22.4). A vehicle with ID 21 is 25.6 meters away at (22.1, 12.8). A vehicle with ID 3 is 26.5 meters away at (-8.7, -25.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 10 is 14.0 meters away at (11.9, 7.5). A vehicle with ID 11 is 14.5 meters away at (-4.8, -13.7). A vehicle with ID 12 is 17.0 meters away at (2.8, -16.7). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.8). A vehicle with ID 13 is 20.6 meters away at (-7.1, -19.3). A vehicle with ID 14 is 20.7 meters away at (13.1, -16.1). A vehicle with ID 16 is 21.9 meters away at (7.0, 20.7). A vehicle with ID 17 is 22.3 meters away at (1.2, -22.2). A vehicle with ID 21 is 25.7 meters away at (22.2, 12.9). A vehicle with ID 3 is 26.4 meters away at (-8.7, -24.9).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 10 is 14.1 meters away at (11.9, 7.6). A vehicle with ID 11 is 14.5 meters away at (-4.7, -13.7). A vehicle with ID 12 is 16.9 meters away at (2.8, -16.7). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.8). A vehicle with ID 13 is 20.5 meters away at (-7.1, -19.2). A vehicle with ID 14 is 20.7 meters away at (13.1, -16.0). A vehicle with ID 16 is 21.9 meters away at (7.0, 20.8). A vehicle with ID 17 is 22.3 meters away at (1.2, -22.2). A vehicle with ID 21 is 25.7 meters away at (22.2, 13.0). A vehicle with ID 3 is 26.5 meters away at (-8.7, -25.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 10 is 14.1 meters away at (11.9, 7.5). A vehicle with ID 11 is 14.5 meters away at (-4.8, -13.7). A vehicle with ID 12 is 16.9 meters away at (2.8, -16.7). A unknown object with ID 8 is 18.5 meters away at (15.0, -10.8). A vehicle with ID 13 is 20.5 meters away at (-7.1, -19.2). A vehicle with ID 14 is 20.7 meters away at (13.1, -16.0). A vehicle with ID 16 is 21.9 meters away at (7.0, 20.8). A vehicle with ID 17 is 22.2 meters away at (1.2, -22.2). A vehicle with ID 21 is 25.7 meters away at (22.2, 13.0). A vehicle with ID 3 is 26.5 meters away at (-8.7, -25.0).

The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 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: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, 9.6) 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 vehicle with ID 28 is 16.5 meters away at (-8.5, 14.1). A vehicle with ID 25 is 18.1 meters away at (6.5, -17.0). A vehicle with ID 29 is 21.7 meters away at (-10.0, 19.3). A vehicle with ID 26 is 24.7 meters away at (8.3, -23.2). A vehicle with ID 30 is 34.3 meters away at (-13.2, 31.6). A vehicle with ID 27 is 43.1 meters away at (12.9, -41.2).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0.34673193 0.13274047] m/s.The vehicle with ID 25 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 26 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 [0.411792   0.09942064] m/s.The vehicle with ID 27 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 (-2.0, 9.1) m/s. Its current heading (yaw) is 1.78 radians with an angular velocity of 1.78 rad/s.

The most relevant actors are: A vehicle with ID 29 is 6.1 meters away at (-6.1, 0.4). A vehicle with ID 28 is 6.5 meters away at (-4.7, -4.5). A vehicle with ID 30 is 15.9 meters away at (-9.3, 12.8). A unknown object with ID 11 is 35.0 meters away at (-15.7, 31.3). A vehicle with ID 25 is 37.3 meters away at (10.3, -35.8). A vehicle with ID 26 is 43.8 meters away at (12.1, -42.1). A vehicle with ID 27 is 62.1 meters away at (16.4, -59.9).

The vehicle with ID 29 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, 9.0) m/s. Its current heading (yaw) is 1.83 radians with an angular velocity of 1.83 rad/s.

The most relevant actors are: A vehicle with ID 30 is 6.7 meters away at (-4.5, -5.0). A unknown object with ID 11 is 17.0 meters away at (-10.4, 13.4). A vehicle with ID 29 is 17.5 meters away at (-1.4, -17.4). A unknown object with ID 8 is 18.6 meters away at (-11.1, 14.9). A unknown object with ID 7 is 20.7 meters away at (-12.0, 16.8). A vehicle with ID 28 is 22.6 meters away at (0.1, -22.6). A unknown object with ID 21 is 22.9 meters away at (-12.8, 19.0). A unknown object with ID 17 is 25.2 meters away at (-13.7, 21.1). A vehicle with ID 25 is 55.9 meters away at (15.0, -53.9). A vehicle with ID 26 is 62.3 meters away at (16.5, -60.1).

The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 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 7 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 8.9) m/s. Its current heading (yaw) is 1.92 radians with an angular velocity of 1.92 rad/s.

The most relevant actors are: A unknown object with ID 8 is 5.8 meters away at (-5.0, -2.9). A unknown object with ID 7 is 6.0 meters away at (-5.9, -1.1). A unknown object with ID 11 is 6.2 meters away at (-4.3, -4.4). A unknown object with ID 21 is 6.8 meters away at (-6.7, 1.1). A unknown object with ID 17 is 8.2 meters away at (-7.6, 3.2). A pedestrian with ID 13 is 12.4 meters away at (6.9, 10.3). A vehicle with ID 30 is 22.9 meters away at (1.6, -22.8). A vehicle with ID 29 is 35.7 meters away at (4.8, -35.3). A vehicle with ID 28 is 41.0 meters away at (6.4, -40.5). A vehicle with ID 19 is 49.8 meters away at (8.5, -49.1).

The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [ 0.00042092 -0.0037487 ] 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 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -0.6) m/s. Its current heading (yaw) is -0.83 radians with an angular velocity of -0.83 rad/s.

The most relevant actors are: A vehicle with ID 24 is 4.0 meters away at (-3.9, -0.6). A vehicle with ID 28 is 8.1 meters away at (-7.6, 2.8). A vehicle with ID 37 is 9.4 meters away at (0.1, 9.4). A pedestrian with ID 35 is 9.5 meters away at (-9.5, 0.7). A pedestrian with ID 34 is 9.8 meters away at (-9.8, 0.1). A pedestrian with ID 29 is 10.5 meters away at (-10.5, 0.9). A unknown object with ID 23 is 11.1 meters away at (-8.1, -7.6). A vehicle with ID 40 is 12.6 meters away at (-10.9, 6.3). A vehicle with ID 43 is 13.8 meters away at (-3.7, 13.3). A vehicle with ID 48 is 17.2 meters away at (-14.2, 9.8).

The vehicle with ID 24 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 37 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 [ 0.03420976 -0.00823058] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.02043647 -0.01175763] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.00099488 0.01343831] m/s.The unknown object with ID 23 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 -0.82 radians with an angular velocity of -0.82 rad/s.

The most relevant actors are: A vehicle with ID 24 is 4.2 meters away at (-4.2, -0.4). A vehicle with ID 28 is 8.5 meters away at (-7.9, 3.1). A unknown object with ID 21 is 8.8 meters away at (3.2, 8.2). A vehicle with ID 37 is 9.6 meters away at (-0.2, 9.6). A pedestrian with ID 35 is 9.7 meters away at (-9.7, 0.9). A pedestrian with ID 34 is 10.0 meters away at (-10.0, 0.4). A unknown object with ID 23 is 11.2 meters away at (-8.3, -7.4). A vehicle with ID 40 is 12.9 meters away at (-11.1, 6.6). A vehicle with ID 5 is 13.2 meters away at (8.6, -10.0). A vehicle with ID 43 is 14.1 meters away at (-3.9, 13.5).

The vehicle with ID 24 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 unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.01727501 -0.01195918] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.01027523  0.02326949] m/s.The unknown object with ID 23 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 5 is traveling at a (x, y) velocity of [-5.544386 -9.025564] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.2) m/s. Its current heading (yaw) is -0.82 radians with an angular velocity of -0.82 rad/s.

The most relevant actors are: A vehicle with ID 24 is 4.4 meters away at (-4.4, -0.2). A vehicle with ID 28 is 8.7 meters away at (-8.0, 3.3). A vehicle with ID 37 is 9.8 meters away at (-0.4, 9.8). A pedestrian with ID 35 is 9.9 meters away at (-9.8, 1.1). A pedestrian with ID 34 is 10.1 meters away at (-10.0, 0.5). A pedestrian with ID 26 is 11.0 meters away at (-10.9, 1.4). A vehicle with ID 40 is 13.2 meters away at (-11.3, 6.7). A vehicle with ID 43 is 14.3 meters away at (-4.1, 13.7). A vehicle with ID 17 is 16.4 meters away at (14.9, -6.7). A vehicle with ID 1 is 17.2 meters away at (-0.1, -17.2).

The vehicle with ID 24 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 37 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 [-0.08947448  0.0675905 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00414036  0.00544121] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00541197  0.09315347] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [3.8726158 6.576261 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -0.9) m/s. Its current heading (yaw) is -0.82 radians with an angular velocity of -0.82 rad/s.

The most relevant actors are: A vehicle with ID 24 is 5.8 meters away at (-5.7, 1.2). A vehicle with ID 28 is 10.4 meters away at (-9.3, 4.7). A vehicle with ID 37 is 11.3 meters away at (-1.7, 11.2). A pedestrian with ID 34 is 11.6 meters away at (-11.5, 2.0). A pedestrian with ID 35 is 11.8 meters away at (-11.4, 2.9). A pedestrian with ID 26 is 12.5 meters away at (-12.3, 2.5). A cyclist with ID 46 is 12.7 meters away at (12.1, 3.9). A vehicle with ID 40 is 15.0 meters away at (-12.6, 8.2). A vehicle with ID 19 is 15.9 meters away at (8.5, -13.5). A vehicle with ID 1 is 16.0 meters away at (-1.4, -15.9).

The vehicle with ID 24 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.0124771  0.00206751] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.00630359 -0.00837662] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.02804426  0.0565054 ] m/s.The cyclist with ID 46 is traveling at a (x, y) velocity of [-4.8222227 -6.9514422] m/s.The vehicle with ID 40 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 [3.8318598 6.2725153] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, 3.8) m/s. Its current heading (yaw) is 2.66 radians with an angular velocity of 2.66 rad/s.

The most relevant actors are: A cyclist with ID 57 is 8.1 meters away at (6.2, -5.2). A pedestrian with ID 50 is 28.7 meters away at (-22.8, -17.5). A vehicle with ID 58 is 34.0 meters away at (10.3, -32.4). A vehicle with ID 59 is 38.7 meters away at (14.9, -35.7). A vehicle with ID 49 is 45.4 meters away at (-23.3, -38.9). A vehicle with ID 56 is 48.8 meters away at (-42.3, 24.3). A vehicle with ID 72 is 54.8 meters away at (-50.3, 21.8). A vehicle with ID 71 is 55.8 meters away at (-52.1, 20.0). A pedestrian with ID 61 is 56.6 meters away at (56.4, -4.8). A pedestrian with ID 63 is 56.9 meters away at (56.7, -4.1).

The cyclist with ID 57 is traveling at a (x, y) velocity of [-7.2946568  3.471467 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.0262321  -0.00473278] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [ 1.1915296  -0.49479148] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 1.1269956  -0.45362544] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 3.6) m/s. Its current heading (yaw) is 2.62 radians with an angular velocity of 2.62 rad/s.

The most relevant actors are: A cyclist with ID 57 is 7.3 meters away at (5.3, -5.1). A pedestrian with ID 50 is 26.6 meters away at (-9.4, -24.9). A vehicle with ID 56 is 33.6 meters away at (-29.0, 17.0). A vehicle with ID 72 is 39.6 meters away at (-36.8, 14.4). A vehicle with ID 71 is 40.7 meters away at (-38.7, 12.6). A vehicle with ID 74 is 43.2 meters away at (-37.3, 21.9). A cyclist with ID 73 is 43.3 meters away at (-38.4, 20.1). A pedestrian with ID 1 is 47.3 meters away at (-45.4, 13.3). A vehicle with ID 59 is 51.7 meters away at (28.3, -43.2). A vehicle with ID 35 is 71.4 meters away at (-68.8, 19.2).

The cyclist with ID 57 is traveling at a (x, y) velocity of [-7.065301  3.911142] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02952701  0.00658697] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [0.0118472  0.03595424] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00609266 0.03181931] m/s.The vehicle with ID 59 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 (-4.7, 2.8) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A cyclist with ID 57 is 4.3 meters away at (1.9, -3.8). A vehicle with ID 56 is 20.9 meters away at (-17.9, 10.7). A vehicle with ID 72 is 27.1 meters away at (-25.9, 8.2). A vehicle with ID 71 is 28.5 meters away at (-27.8, 6.4). A cyclist with ID 73 is 30.7 meters away at (-27.4, 13.9). A pedestrian with ID 50 is 31.0 meters away at (1.4, -31.0). A pedestrian with ID 1 is 35.1 meters away at (-34.3, 7.2). A pedestrian with ID 15 is 42.9 meters away at (-29.2, 31.5). A pedestrian with ID 47 is 43.7 meters away at (-29.2, 32.5). A vehicle with ID 27 is 47.1 meters away at (-24.5, 40.3).

The cyclist with ID 57 is traveling at a (x, y) velocity of [-7.1377463  3.7622194] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [-0.01941544  0.01865691] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.02372083  0.00769986] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00160101  0.03298752] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.05546011 -0.01470356] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.00504797  0.00842381] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [-0.02838985 -6.007964  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, 1.5) m/s. Its current heading (yaw) is 2.61 radians with an angular velocity of 2.61 rad/s.

The most relevant actors are: A cyclist with ID 57 is 4.6 meters away at (-4.6, -0.4). A vehicle with ID 56 is 12.6 meters away at (-10.8, 6.6). A vehicle with ID 72 is 19.2 meters away at (-18.7, 4.1). A vehicle with ID 71 is 21.7 meters away at (-21.5, 2.8). A vehicle with ID 51 is 21.9 meters away at (-18.6, 11.5). A cyclist with ID 73 is 25.5 meters away at (-22.8, 11.5). A pedestrian with ID 1 is 27.4 meters away at (-27.2, 3.1). A vehicle with ID 27 is 29.0 meters away at (-14.9, 24.9). A pedestrian with ID 50 is 36.1 meters away at (8.5, -35.1). A pedestrian with ID 15 is 36.4 meters away at (-23.2, 28.1).

The cyclist with ID 57 is traveling at a (x, y) velocity of [-6.5934467  3.818454 ] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.7697124  1.1210071] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 73 is traveling at a (x, y) velocity of [-2.4931333  1.5790188] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.01466529  0.0012121 ] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 2.9372282 -5.4247394] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.03967622  0.01648132] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.86969006  0.80213404] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.2) m/s. Its current heading (yaw) is 1.92 radians with an angular velocity of 1.92 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.3) m/s. Its current heading (yaw) is 1.90 radians with an angular velocity of 1.90 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.7) m/s. Its current heading (yaw) is 1.89 radians with an angular velocity of 1.89 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.2, 10.6) m/s. Its current heading (yaw) is 1.87 radians with an angular velocity of 1.87 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 (-6.7, -5.2) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 54 is 4.2 meters away at (3.5, -2.3). A unknown object with ID 42 is 6.1 meters away at (2.0, 5.7). A vehicle with ID 55 is 7.5 meters away at (3.7, -6.5). A vehicle with ID 56 is 7.8 meters away at (-3.2, -7.1). A vehicle with ID 53 is 8.7 meters away at (8.3, -2.6). A vehicle with ID 50 is 9.7 meters away at (9.4, 2.6). A vehicle with ID 58 is 12.5 meters away at (-3.2, -12.0). A vehicle with ID 51 is 13.4 meters away at (13.3, 1.1). A vehicle with ID 59 is 15.5 meters away at (-9.5, -12.3). A vehicle with ID 52 is 17.6 meters away at (17.6, 0.0).

The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 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 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.2, -5.6) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 59 is 4.5 meters away at (4.3, -1.5). A vehicle with ID 61 is 5.8 meters away at (-1.5, -5.6). A vehicle with ID 60 is 7.2 meters away at (5.2, -5.0). A vehicle with ID 62 is 9.6 meters away at (-0.7, -9.5). A vehicle with ID 58 is 10.7 meters away at (10.6, -1.2). A vehicle with ID 56 is 11.3 meters away at (10.7, 3.6). A vehicle with ID 63 is 12.9 meters away at (-7.7, -10.4). A vehicle with ID 35 is 15.1 meters away at (-6.5, -13.6). A vehicle with ID 55 is 18.2 meters away at (17.7, 4.3). A vehicle with ID 54 is 19.4 meters away at (17.4, 8.5).

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. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.4, -5.9) 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 65 is 5.6 meters away at (-1.7, -5.4). A vehicle with ID 47 is 6.8 meters away at (3.0, -6.1). A vehicle with ID 63 is 7.2 meters away at (7.1, 1.2). A vehicle with ID 35 is 8.6 meters away at (8.4, -1.9). A vehicle with ID 28 is 10.5 meters away at (-2.1, -10.3). A vehicle with ID 62 is 14.3 meters away at (14.1, 2.1). A vehicle with ID 61 is 14.5 meters away at (13.3, 5.9). A vehicle with ID 29 is 16.8 meters away at (-8.4, -14.5). A vehicle with ID 60 is 21.2 meters away at (20.2, 6.7). A vehicle with ID 59 is 21.7 meters away at (19.2, 10.1).

The vehicle with ID 65 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 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, -6.1) m/s. Its current heading (yaw) is -2.43 radians with an angular velocity of -2.43 rad/s.

The most relevant actors are: A vehicle with ID 25 is 6.2 meters away at (1.7, -6.0). A vehicle with ID 29 is 6.6 meters away at (6.0, -2.6). A vehicle with ID 30 is 9.6 meters away at (-4.7, -8.4). A vehicle with ID 28 is 12.5 meters away at (12.4, 1.6). A vehicle with ID 65 is 14.3 meters away at (12.8, 6.5). A vehicle with ID 21 is 16.4 meters away at (-10.1, -12.9). A unknown object with ID 44 is 17.1 meters away at (8.0, 15.1). A vehicle with ID 47 is 18.5 meters away at (17.5, 5.8). A vehicle with ID 49 is 23.9 meters away at (-15.4, -18.3). A vehicle with ID 35 is 25.2 meters away at (23.0, 10.2).

The vehicle with ID 25 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 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 49 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: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -9.8) m/s. Its current heading (yaw) is -1.60 radians with an angular velocity of -1.60 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 54.9 meters away at (23.0, 49.8).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00339201 -0.00260812] 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, -9.7) m/s. Its current heading (yaw) is -1.26 radians with an angular velocity of -1.26 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 72.6 meters away at (20.8, 69.5).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.02622932 0.00751742] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -8.7) m/s. Its current heading (yaw) is -0.98 radians with an angular velocity of -0.98 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -8.9) m/s. Its current heading (yaw) is -0.95 radians with an angular velocity of -0.95 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


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

The most relevant actors are: A vehicle with ID 24 is 12.1 meters away at (10.1, 6.7).

The vehicle with ID 24 is traveling at a (x, y) velocity of [3.9847665 0.686096 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.1, 4.8) m/s. Its current heading (yaw) is 2.54 radians with an angular velocity of 2.54 rad/s.

The most relevant actors are: A vehicle with ID 24 is 32.8 meters away at (32.8, -0.6).

The vehicle with ID 24 is traveling at a (x, y) velocity of [3.7651095 2.0397213] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.0, 4.7) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 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 (-6.4, 4.2) m/s. Its current heading (yaw) is 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A vehicle with ID 6 is 49.7 meters away at (-34.6, 35.6).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.1, -3.4) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A pedestrian with ID 32 is 9.6 meters away at (-9.5, -1.1). A vehicle with ID 14 is 26.1 meters away at (-26.0, 1.8). A vehicle with ID 34 is 32.7 meters away at (-16.0, -28.5). A vehicle with ID 33 is 34.4 meters away at (-23.6, -25.0). A vehicle with ID 35 is 40.6 meters away at (-35.5, -19.7). A pedestrian with ID 26 is 42.4 meters away at (0.2, -42.4). A pedestrian with ID 29 is 48.8 meters away at (14.7, -46.6). A pedestrian with ID 30 is 49.6 meters away at (14.3, -47.5). A pedestrian with ID 31 is 49.7 meters away at (13.9, -47.7). A pedestrian with ID 36 is 71.1 meters away at (-68.3, -19.5).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.02406032 -0.02227779] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [2.1551445 3.1688485] m/s.The vehicle with ID 34 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. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.2690695   0.04526031] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0746936 -0.7900272] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.99581254 -0.72069997] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.1693155 -0.7198889] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [0.64859194 1.1419514 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.8, -3.7) 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 pedestrian with ID 32 is 23.4 meters away at (-22.7, 5.7). A vehicle with ID 28 is 36.3 meters away at (-29.1, -21.7). A vehicle with ID 14 is 36.6 meters away at (-34.0, 13.6). A pedestrian with ID 26 is 37.9 meters away at (-13.1, -35.6). A vehicle with ID 33 is 41.1 meters away at (-36.8, -18.2). A pedestrian with ID 29 is 41.4 meters away at (3.6, -41.2). A pedestrian with ID 30 is 42.2 meters away at (3.3, -42.0). A pedestrian with ID 31 is 42.2 meters away at (2.9, -42.1). A vehicle with ID 35 is 50.4 meters away at (-48.7, -12.9). A vehicle with ID 7 is 68.9 meters away at (29.0, -62.5).

The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.00920486 -0.04193929] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [3.1609614 1.1840065] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.03887412 -0.06048895] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.1878946  -0.76370084] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.1330618  -0.77690023] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.097616   -0.76367474] m/s.The vehicle with ID 35 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.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.6) m/s. Its current heading (yaw) is -0.51 radians with an angular velocity of -0.51 rad/s.

The most relevant actors are: A unknown object with ID 23 is 14.1 meters away at (13.6, 3.6). A unknown object with ID 19 is 20.0 meters away at (-10.2, 17.2). A pedestrian with ID 29 is 36.2 meters away at (-7.6, -35.4). A pedestrian with ID 30 is 36.9 meters away at (-7.8, -36.1). A pedestrian with ID 31 is 37.2 meters away at (-8.5, -36.2). A pedestrian with ID 32 is 38.3 meters away at (-36.2, 12.7). A vehicle with ID 28 is 45.0 meters away at (-42.6, -14.5). A vehicle with ID 14 is 45.4 meters away at (-40.0, 21.3). A vehicle with ID 33 is 51.5 meters away at (-50.3, -11.0). A vehicle with ID 7 is 57.7 meters away at (15.5, -55.5).

The unknown object with ID 23 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 29 is traveling at a (x, y) velocity of [ 1.0873073 -0.7668459] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.0863639 -0.738803 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.0542914 -0.7074763] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.05994638 -0.12416026] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 3.4669576  -0.93755317] m/s.The vehicle with ID 33 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.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, -4.1) m/s. Its current heading (yaw) is -0.52 radians with an angular velocity of -0.52 rad/s.

The most relevant actors are: A unknown object with ID 23 is 10.7 meters away at (0.1, 10.7). A pedestrian with ID 29 is 34.8 meters away at (-18.7, -29.4). A pedestrian with ID 30 is 35.8 meters away at (-19.0, -30.3). A pedestrian with ID 31 is 36.2 meters away at (-19.9, -30.3). A vehicle with ID 7 is 48.4 meters away at (1.8, -48.3). A vehicle with ID 14 is 52.3 meters away at (-45.6, 25.6). A vehicle with ID 8 is 53.8 meters away at (1.1, -53.8). A vehicle with ID 6 is 55.3 meters away at (14.9, -53.2). A vehicle with ID 28 is 56.6 meters away at (-56.1, -7.4). A unknown object with ID 24 is 62.0 meters away at (57.8, -22.5).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 1.0881197 -0.7747197] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 1.0030347  -0.72259843] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.9791824 -0.7422962] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 4.705589  -2.3680124] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.6, 0.7) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A vehicle with ID 39 is 20.7 meters away at (-13.4, -15.8). A unknown object with ID 37 is 26.9 meters away at (25.5, 8.5). A vehicle with ID 38 is 28.9 meters away at (13.5, 25.5). A vehicle with ID 36 is 29.9 meters away at (29.7, 3.5). A unknown object with ID 41 is 49.1 meters away at (47.9, -10.4). A unknown object with ID 35 is 53.7 meters away at (53.1, -8.4). A vehicle with ID 42 is 57.7 meters away at (-30.0, 49.4). A vehicle with ID 40 is 63.1 meters away at (41.6, 47.5). A pedestrian with ID 8 is 63.5 meters away at (47.3, 42.3). A vehicle with ID 43 is 65.7 meters away at (-36.2, 54.9).

The vehicle with ID 39 is traveling at a (x, y) velocity of [4.759669 5.600679] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-1.4257028 -1.6636635] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.3347692  1.0438385] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 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 [7.468636 8.435687] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.8552283 1.0758806] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 4.2) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 39 is 15.2 meters away at (-9.9, -11.6). A vehicle with ID 38 is 15.4 meters away at (4.2, 14.8). A vehicle with ID 36 is 20.5 meters away at (20.4, 0.6). A unknown object with ID 37 is 21.3 meters away at (21.1, 3.3). A unknown object with ID 25 is 45.4 meters away at (42.2, -16.7). A unknown object with ID 22 is 45.6 meters away at (42.6, -16.3). A unknown object with ID 41 is 45.7 meters away at (42.8, -16.2). A unknown object with ID 31 is 46.1 meters away at (43.3, -15.7). A unknown object with ID 35 is 50.4 meters away at (48.5, -13.7). A vehicle with ID 42 is 56.0 meters away at (-34.3, 44.3).

The vehicle with ID 39 is traveling at a (x, y) velocity of [3.4757602 4.1004786] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-3.5081873 -4.089549 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.7763183  1.048698 ] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 6.5) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 36 is 12.6 meters away at (9.1, -8.7). A unknown object with ID 37 is 13.9 meters away at (11.7, -7.4). A vehicle with ID 38 is 15.2 meters away at (-13.9, -6.2). A vehicle with ID 39 is 18.9 meters away at (-12.5, -14.2). A unknown object with ID 11 is 35.9 meters away at (23.1, -27.5). A unknown object with ID 25 is 42.8 meters away at (32.8, -27.5). A unknown object with ID 22 is 42.9 meters away at (33.2, -27.2). A unknown object with ID 41 is 42.9 meters away at (33.3, -27.1). A unknown object with ID 31 is 43.1 meters away at (34.0, -26.5). A unknown object with ID 35 is 46.2 meters away at (39.1, -24.6).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.9106315  0.8502441] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-4.9286456 -5.6268353] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [2.9885163 4.737458 ] 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (6.0, 7.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A unknown object with ID 37 is 21.0 meters away at (0.0, -21.0). A vehicle with ID 36 is 21.2 meters away at (-4.4, -20.7). A vehicle with ID 39 is 28.3 meters away at (-23.3, -16.1). A pedestrian with ID 8 is 35.3 meters away at (28.6, 20.6). A unknown object with ID 12 is 42.0 meters away at (11.3, -40.5). A unknown object with ID 28 is 42.4 meters away at (11.2, -40.9). A unknown object with ID 31 is 45.9 meters away at (22.2, -40.2). A unknown object with ID 41 is 46.1 meters away at (21.6, -40.7). A unknown object with ID 22 is 46.1 meters away at (21.4, -40.9). A unknown object with ID 35 is 46.9 meters away at (27.3, -38.1).

The unknown object with ID 37 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 [-0.67056036  0.8785516 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-2.5959158  6.827145 ] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [1.0098451 1.3817585] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (-3.3, 7.2) m/s. Its current heading (yaw) is 2.00 radians with an angular velocity of 2.00 rad/s.

The most relevant actors are: A unknown object with ID 35 is 14.2 meters away at (13.9, -2.9). A unknown object with ID 28 is 15.8 meters away at (14.7, 5.8). A unknown object with ID 9 is 15.9 meters away at (14.3, 6.8). A unknown object with ID 32 is 15.9 meters away at (13.9, 7.8). A unknown object with ID 7 is 16.0 meters away at (16.0, 0.1). A unknown object with ID 22 is 16.0 meters away at (13.4, 8.8). A unknown object with ID 47 is 16.1 meters away at (15.6, 3.8). A unknown object with ID 23 is 16.2 meters away at (13.0, 9.7). A unknown object with ID 46 is 16.3 meters away at (16.1, 2.7). A unknown object with ID 45 is 16.6 meters away at (16.5, 1.7).

The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 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 46 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 5.1) 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 pedestrian with ID 54 is 20.5 meters away at (20.3, 2.8). A unknown object with ID 15 is 21.2 meters away at (21.2, -0.4). A unknown object with ID 10 is 21.7 meters away at (21.7, -1.5). A vehicle with ID 5 is 21.7 meters away at (11.6, -18.4). A unknown object with ID 17 is 21.8 meters away at (21.7, -2.0). A unknown object with ID 23 is 22.3 meters away at (22.1, -2.6). A unknown object with ID 22 is 22.8 meters away at (22.6, -3.5). A unknown object with ID 32 is 23.4 meters away at (23.0, -4.5). A unknown object with ID 9 is 24.1 meters away at (23.5, -5.5). A unknown object with ID 28 is 24.8 meters away at (23.9, -6.5).

The pedestrian with ID 54 is traveling at a (x, y) velocity of [ 0.0128054  -0.01908291] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.468735  8.297886] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.8, 5.1) m/s. Its current heading (yaw) is 2.56 radians with an angular velocity of 2.56 rad/s.

The most relevant actors are: A vehicle with ID 5 is 21.5 meters away at (16.8, -13.4). A pedestrian with ID 54 is 35.1 meters away at (34.4, -6.9). A unknown object with ID 17 is 37.5 meters away at (35.7, -11.7). A unknown object with ID 22 is 39.1 meters away at (36.8, -13.3). A unknown object with ID 32 is 39.9 meters away at (37.3, -14.3). A unknown object with ID 9 is 40.7 meters away at (37.7, -15.3). A unknown object with ID 28 is 41.5 meters away at (38.2, -16.3). A unknown object with ID 47 is 42.4 meters away at (38.7, -17.3). A unknown object with ID 46 is 43.2 meters away at (39.2, -18.3). A unknown object with ID 36 is 54.6 meters away at (43.9, -32.6).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-6.0536222  6.570183 ] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [0.0415437  0.02347779] m/s.The unknown object with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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 (-8.2, 5.4) m/s. Its current heading (yaw) is 2.55 radians with an angular velocity of 2.55 rad/s.

The most relevant actors are: A vehicle with ID 5 is 21.6 meters away at (17.7, -12.4). A vehicle with ID 33 is 54.3 meters away at (54.1, -4.4).

The vehicle with ID 5 is traveling at a (x, y) velocity of [-8.668871   5.7870584] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [  0.5860699 -10.502047 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 58 is 4.5 meters away at (0.3, -4.5). A vehicle with ID 63 is 4.8 meters away at (4.8, 0.4). A vehicle with ID 54 is 9.6 meters away at (-3.2, -9.0). A vehicle with ID 24 is 9.7 meters away at (8.4, 4.8). A vehicle with ID 64 is 14.2 meters away at (-11.3, 8.7). A vehicle with ID 57 is 16.5 meters away at (-14.9, -7.1). A vehicle with ID 27 is 16.5 meters away at (13.1, 10.1). A pedestrian with ID 55 is 17.1 meters away at (3.5, 16.7). A vehicle with ID 56 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 13 is 20.8 meters away at (-13.5, -15.8).

The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 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 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.49292707 -0.59557533] m/s.The vehicle with ID 56 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 [3.7622988 4.9002657] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.7, 5.7) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 27 is 4.0 meters away at (3.9, -0.7). A vehicle with ID 24 is 5.9 meters away at (-0.6, -5.8). A pedestrian with ID 55 is 8.0 meters away at (-6.2, 5.0). A vehicle with ID 25 is 8.7 meters away at (7.9, 3.7). A vehicle with ID 63 is 11.1 meters away at (-4.3, -10.2). A unknown object with ID 38 is 13.5 meters away at (-8.9, 10.1). A vehicle with ID 58 is 17.6 meters away at (-8.8, -15.3). A vehicle with ID 49 is 20.3 meters away at (7.6, 18.8). A vehicle with ID 64 is 20.6 meters away at (-20.4, -2.4). A vehicle with ID 13 is 21.0 meters away at (-13.9, -15.7).

The vehicle with ID 27 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.15691395 -0.0017427 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.902482  5.9793477] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.1, 5.9) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 28 is 6.7 meters away at (6.4, 2.1). A vehicle with ID 49 is 7.7 meters away at (-2.2, 7.4). A vehicle with ID 25 is 7.8 meters away at (-1.8, -7.6). A vehicle with ID 50 is 12.3 meters away at (1.9, 12.2). A vehicle with ID 27 is 13.4 meters away at (-5.8, -12.1). A pedestrian with ID 55 is 17.3 meters away at (-16.0, -6.4). A vehicle with ID 51 is 17.4 meters away at (5.6, 16.5). A vehicle with ID 26 is 19.8 meters away at (15.2, 12.6). A vehicle with ID 13 is 20.0 meters away at (-13.3, -15.0). A vehicle with ID 24 is 20.2 meters away at (-10.5, -17.3).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.00093026  0.0187024 ] m/s.The vehicle with ID 51 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 13 is traveling at a (x, y) velocity of [5.1943903 6.060784 ] 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 (4.9, 5.7) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 26 is 5.4 meters away at (5.3, 1.1). A vehicle with ID 51 is 6.6 meters away at (-4.4, 5.0). A vehicle with ID 50 is 8.1 meters away at (-8.1, 0.7). A vehicle with ID 28 is 9.9 meters away at (-3.5, -9.3). A vehicle with ID 1 is 10.9 meters away at (9.4, 5.6). A vehicle with ID 49 is 12.8 meters away at (-12.1, -4.0). A vehicle with ID 52 is 13.6 meters away at (2.7, 13.3). A vehicle with ID 53 is 18.3 meters away at (6.2, 17.2). A vehicle with ID 13 is 19.8 meters away at (-13.2, -14.8). A vehicle with ID 25 is 22.5 meters away at (-11.8, -19.1).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 [4.984686  5.7757206] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, 1.5) m/s. Its current heading (yaw) is 1.29 radians with an angular velocity of 1.29 rad/s.

The most relevant actors are: A unknown object with ID 28 is 13.1 meters away at (1.6, 13.0). A unknown object with ID 7 is 16.0 meters away at (15.8, 2.5). A unknown object with ID 35 is 17.2 meters away at (17.0, 2.8). A unknown object with ID 15 is 19.6 meters away at (19.3, 3.2). A unknown object with ID 36 is 45.6 meters away at (11.7, 44.1). A vehicle with ID 33 is 66.6 meters away at (24.7, 61.8).

The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.9, 4.1) m/s. Its current heading (yaw) is 1.14 radians with an angular velocity of 1.14 rad/s.

The most relevant actors are: A unknown object with ID 23 is 10.5 meters away at (8.2, -6.5). A unknown object with ID 10 is 10.5 meters away at (6.6, -8.2). A unknown object with ID 7 is 14.0 meters away at (13.5, -3.5). A unknown object with ID 30 is 14.4 meters away at (3.0, 14.1). A unknown object with ID 35 is 15.1 meters away at (14.7, -3.2). A vehicle with ID 33 is 60.2 meters away at (22.4, 55.8).

The unknown object with ID 23 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 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.1, 6.0) m/s. Its current heading (yaw) is 1.23 radians with an angular velocity of 1.23 rad/s.

The most relevant actors are: A unknown object with ID 29 is 5.6 meters away at (-4.8, -2.9). A unknown object with ID 7 is 16.4 meters away at (9.3, -13.4). A unknown object with ID 35 is 16.9 meters away at (10.5, -13.2). A unknown object with ID 16 is 18.1 meters away at (12.9, -12.7). A vehicle with ID 33 is 49.4 meters away at (18.4, 45.9). A pedestrian with ID 1 is 76.7 meters away at (21.5, 73.6). A pedestrian with ID 2 is 77.4 meters away at (21.3, 74.5).

The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.2408372  -0.11617725] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [ 1.2735982  -0.15539117] 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, 6.5) m/s. Its current heading (yaw) is 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A unknown object with ID 21 is 10.5 meters away at (6.8, -8.1). A unknown object with ID 31 is 11.6 meters away at (7.2, -9.2). A vehicle with ID 33 is 36.3 meters away at (14.4, 33.3). A pedestrian with ID 1 is 64.5 meters away at (19.6, 61.4). A pedestrian with ID 2 is 64.8 meters away at (19.4, 61.8).

The unknown object with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.1105452  0.17295603] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [1.133473   0.09766084] 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 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 28 is 6.2 meters away at (-2.5, -5.7). A vehicle with ID 27 is 7.6 meters away at (7.3, -2.0). A vehicle with ID 29 is 8.1 meters away at (6.3, -5.2). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 52 is 9.9 meters away at (-9.1, -4.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.0). A vehicle with ID 30 is 11.1 meters away at (-6.5, -9.0). A vehicle with ID 47 is 15.8 meters away at (-15.7, -1.5). A vehicle with ID 35 is 18.3 meters away at (-17.6, 5.2). A unknown object with ID 36 is 19.7 meters away at (-19.3, -4.1).

The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 28 is 6.2 meters away at (-2.0, -5.8). A vehicle with ID 27 is 7.3 meters away at (7.1, -1.9). A vehicle with ID 29 is 8.6 meters away at (6.7, -5.3). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 52 is 9.9 meters away at (-9.0, -4.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.1). A vehicle with ID 30 is 11.1 meters away at (-6.5, -9.0). A vehicle with ID 47 is 15.8 meters away at (-15.7, -1.5). A vehicle with ID 35 is 18.8 meters away at (-18.0, 5.4). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.5).

The vehicle with ID 28 is traveling at a (x, y) velocity of [ 0.63404083 -0.18572335] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 0.5594052  -0.16419776] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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.The vehicle with ID 47 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 [-0.7143746   0.16294302] m/s.The unknown object with ID 2 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 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 28 is 7.3 meters away at (1.7, -7.1). A vehicle with ID 27 is 7.3 meters away at (7.1, -1.9). A vehicle with ID 52 is 8.9 meters away at (-7.7, -4.4). A vehicle with ID 32 is 9.0 meters away at (-8.5, 2.9). A vehicle with ID 30 is 11.0 meters away at (-6.2, -9.1). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.0). A vehicle with ID 29 is 12.2 meters away at (10.3, -6.5). A vehicle with ID 47 is 15.4 meters away at (-15.3, -1.6). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.6). A pedestrian with ID 34 is 19.0 meters away at (10.6, -15.8).

The vehicle with ID 28 is traveling at a (x, y) velocity of [ 3.2583983 -1.1209555] m/s.The vehicle with ID 27 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 [ 1.1693914  -0.35054004] m/s.The vehicle with ID 32 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 33 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 [ 2.9617577 -0.8245069] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 0.5386231  -0.16406907] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [0.00036692 0.00058819] 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 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 52 is 6.6 meters away at (-3.0, -5.9). A vehicle with ID 27 is 7.4 meters away at (7.1, -1.9). A vehicle with ID 32 is 9.7 meters away at (-9.2, 3.1). A vehicle with ID 30 is 11.0 meters away at (-6.3, -9.0). A vehicle with ID 33 is 11.1 meters away at (-0.5, -11.1). A vehicle with ID 47 is 13.1 meters away at (-12.9, -2.4). A vehicle with ID 28 is 14.8 meters away at (10.9, -10.0). A pedestrian with ID 11 is 18.4 meters away at (6.0, -17.4). A unknown object with ID 2 is 18.9 meters away at (-18.1, -5.6). A pedestrian with ID 34 is 19.0 meters away at (10.6, -15.8).

The vehicle with ID 52 is traveling at a (x, y) velocity of [ 3.538154  -1.1476548] m/s.The vehicle with ID 27 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 [-0.7233184   0.20797814] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 2.210734   -0.69486344] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.6776576 -1.7797514] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.00067605 -0.00124583] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.00092411 -0.00245347] 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 2.57 radians with an angular velocity of 2.57 rad/s.

The most relevant actors are: A vehicle with ID 56 is 3.3 meters away at (-0.8, -3.2). A vehicle with ID 108 is 3.5 meters away at (2.5, 2.5). A vehicle with ID 96 is 7.5 meters away at (-3.9, 6.4). A vehicle with ID 116 is 8.4 meters away at (8.3, -1.4). A vehicle with ID 41 is 10.1 meters away at (-8.2, 5.8). A unknown object with ID 97 is 13.5 meters away at (-9.1, 9.9). A unknown object with ID 114 is 14.2 meters away at (5.6, -13.0). A unknown object with ID 113 is 14.2 meters away at (5.3, -13.1). A vehicle with ID 115 is 14.8 meters away at (14.0, -4.8). A pedestrian with ID 117 is 16.3 meters away at (-4.5, 15.7).

The vehicle with ID 56 is traveling at a (x, y) velocity of [-2.922106   1.5581981] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 96 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 116 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 unknown object with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 114 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 115 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 117 is traveling at a (x, y) velocity of [0.00354754 0.00604974] m/s.

Instruction: Continue straight.