The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.6, 1.2) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A unknown object with ID 44 is 2.4 meters away at (-2.3, -0.8). A vehicle with ID 43 is 16.9 meters away at (-16.2, 4.8). A pedestrian with ID 38 is 17.5 meters away at (-7.0, 16.0). A vehicle with ID 47 is 22.7 meters away at (21.9, 5.9). A vehicle with ID 49 is 25.9 meters away at (25.2, -6.0). A vehicle with ID 39 is 26.8 meters away at (-10.8, 24.5). A pedestrian with ID 14 is 26.8 meters away at (25.9, -6.6). A pedestrian with ID 45 is 26.9 meters away at (26.7, -3.5). A unknown object with ID 13 is 27.3 meters away at (-27.2, 2.7). A vehicle with ID 46 is 29.7 meters away at (29.7, 0.5).

The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 0.01663853 -0.01223256] 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 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [ 0.11691762 -0.01538041] m/s.The pedestrian with ID 45 is traveling at a (x, y) velocity of [-0.5615819 -0.7295531] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.1, 2.3) m/s. Its current heading (yaw) is 2.49 radians with an angular velocity of 2.49 rad/s.

The most relevant actors are: A unknown object with ID 30 is 5.0 meters away at (2.7, -4.2). A vehicle with ID 43 is 11.5 meters away at (-11.5, 1.2). A pedestrian with ID 38 is 12.6 meters away at (-2.2, 12.4). A unknown object with ID 7 is 18.2 meters away at (-17.4, 5.3). A unknown object with ID 6 is 19.6 meters away at (-18.9, 5.4). A vehicle with ID 39 is 21.7 meters away at (-6.1, 20.8). A unknown object with ID 42 is 26.1 meters away at (-20.5, 16.1). A vehicle with ID 47 is 26.8 meters away at (26.7, 2.3). A unknown object with ID 41 is 27.5 meters away at (-20.8, 18.0). A unknown object with ID 40 is 29.7 meters away at (-21.8, 20.2).

The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00185313 -0.0014158 ] 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 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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 unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, 5.2) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 55 is 13.6 meters away at (10.0, 9.2). A vehicle with ID 59 is 18.6 meters away at (11.3, 14.8). A vehicle with ID 52 is 19.3 meters away at (-11.9, 15.2). A vehicle with ID 9 is 20.2 meters away at (15.2, -13.3). A vehicle with ID 57 is 20.3 meters away at (-10.4, -17.5). A vehicle with ID 56 is 22.9 meters away at (20.5, 10.1). A vehicle with ID 60 is 24.8 meters away at (15.5, 19.4). A unknown object with ID 61 is 25.3 meters away at (-17.5, -18.3). A vehicle with ID 53 is 26.2 meters away at (-17.2, 19.8). A vehicle with ID 19 is 32.3 meters away at (-24.7, 20.9).

The vehicle with ID 55 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.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.3516254  4.4934506] m/s.The vehicle with ID 57 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 53 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 [-6.152627   4.9938684] 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, 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 vehicle with ID 52 is 5.0 meters away at (0.0, 5.0). A vehicle with ID 53 is 10.7 meters away at (-5.0, 9.5). A unknown object with ID 48 is 21.0 meters away at (-20.9, -1.8). A vehicle with ID 9 is 21.7 meters away at (16.3, -14.2). A vehicle with ID 55 is 22.0 meters away at (22.0, -1.1). A vehicle with ID 59 is 23.8 meters away at (23.3, 4.7). A vehicle with ID 57 is 27.7 meters away at (1.6, -27.7). A vehicle with ID 23 is 27.8 meters away at (-18.4, 20.8). A unknown object with ID 61 is 29.0 meters away at (-5.5, -28.5). A vehicle with ID 19 is 32.3 meters away at (-24.7, 20.9).

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 unknown object with ID 48 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 [-5.659392   4.7837157] m/s.The vehicle with ID 55 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 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 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 [-6.061419  5.358162] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.8, 5.0) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 53 is 6.7 meters away at (6.7, -0.5). A vehicle with ID 23 is 12.6 meters away at (-6.5, 10.8). A vehicle with ID 52 is 12.8 meters away at (11.8, -5.1). A vehicle with ID 12 is 20.7 meters away at (-12.9, 16.2). A vehicle with ID 9 is 22.0 meters away at (16.6, -14.5). A vehicle with ID 19 is 32.6 meters away at (-24.8, 21.2). A vehicle with ID 7 is 33.7 meters away at (-22.8, 24.8). A unknown object with ID 61 is 39.1 meters away at (6.4, -38.6). A vehicle with ID 5 is 40.1 meters away at (-27.7, 29.0). A vehicle with ID 57 is 40.1 meters away at (13.5, -37.8).

The vehicle with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [-5.8758698  4.9965262] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [-5.8310266  5.023301 ] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.6, 4.8) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 23 is 5.0 meters away at (4.9, 1.0). A vehicle with ID 12 is 6.6 meters away at (-1.4, 6.5). A pedestrian with ID 41 is 16.5 meters away at (-13.2, -9.9). A vehicle with ID 7 is 18.9 meters away at (-11.4, 15.1). A vehicle with ID 11 is 19.1 meters away at (-18.0, -6.4). A vehicle with ID 53 is 20.9 meters away at (18.1, -10.4). A vehicle with ID 9 is 21.6 meters away at (16.2, -14.2). A vehicle with ID 13 is 24.0 meters away at (-21.9, -9.9). A vehicle with ID 5 is 25.1 meters away at (-16.2, 19.2). A vehicle with ID 52 is 27.6 meters away at (23.2, -14.9).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-0.03104782 -0.06492417] m/s.The vehicle with ID 7 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 53 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 [-5.885884   4.9821734] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.4, -6.9) m/s. Its current heading (yaw) is -0.64 radians with an angular velocity of -0.64 rad/s.

The most relevant actors are: A pedestrian with ID 72 is 12.6 meters away at (-2.0, -12.4). A pedestrian with ID 73 is 17.2 meters away at (10.8, 13.4). A cyclist with ID 76 is 17.8 meters away at (17.3, 4.2). A pedestrian with ID 70 is 21.2 meters away at (-0.8, 21.2). A vehicle with ID 66 is 22.6 meters away at (-20.9, 8.6). A pedestrian with ID 77 is 25.3 meters away at (25.3, -1.2). A pedestrian with ID 75 is 26.1 meters away at (25.8, 4.0). A pedestrian with ID 67 is 28.4 meters away at (-27.4, 7.7). A pedestrian with ID 68 is 29.1 meters away at (-28.1, 7.3). A pedestrian with ID 69 is 37.2 meters away at (-18.8, 32.1).

The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.493189   -0.98257655] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-1.0972625   0.72531694] m/s.The cyclist with ID 76 is traveling at a (x, y) velocity of [-3.3741808  2.2674406] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.0545512  0.6959067] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 4.3846645 -2.338886 ] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0029169 -1.4956161] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [ 1.2444621 -0.7607248] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-1.1233888  0.818655 ] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.1064453  0.7720878] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [ 1.3000344  -0.89571303] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.9, -6.8) m/s. Its current heading (yaw) is -0.60 radians with an angular velocity of -0.60 rad/s.

The most relevant actors are: A pedestrian with ID 77 is 9.3 meters away at (3.3, 8.7). A pedestrian with ID 72 is 18.1 meters away at (-18.1, -0.5). A pedestrian with ID 75 is 19.4 meters away at (9.2, 17.1). A pedestrian with ID 79 is 21.4 meters away at (6.2, -20.5). A unknown object with ID 46 is 23.2 meters away at (21.3, 9.1). A cyclist with ID 76 is 23.9 meters away at (-8.1, 22.5). A vehicle with ID 55 is 28.2 meters away at (20.6, 19.2). A pedestrian with ID 80 is 28.7 meters away at (16.8, -23.2). A pedestrian with ID 73 is 30.4 meters away at (-10.4, 28.6). A unknown object with ID 30 is 33.0 meters away at (-3.4, -32.8).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.4600892 -2.3262475] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [ 1.4938911 -0.9564541] m/s.The pedestrian with ID 75 is traveling at a (x, y) velocity of [1.1164917  0.08479139] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.93615115  0.6564757 ] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 76 is traveling at a (x, y) velocity of [-2.9953332  2.2198572] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.91770345 0.32268986] m/s.The pedestrian with ID 73 is traveling at a (x, y) velocity of [-1.1046957   0.72091454] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.8, -6.6) m/s. Its current heading (yaw) is -0.59 radians with an angular velocity of -0.59 rad/s.

The most relevant actors are: A pedestrian with ID 80 is 9.3 meters away at (-0.9, -9.3). A vehicle with ID 33 is 13.6 meters away at (13.5, 2.1). A pedestrian with ID 79 is 16.4 meters away at (-15.3, -5.9). A vehicle with ID 62 is 18.2 meters away at (11.2, -14.4). A unknown object with ID 46 is 22.6 meters away at (1.8, 22.6). A vehicle with ID 22 is 24.2 meters away at (16.5, -17.7). A pedestrian with ID 77 is 26.1 meters away at (-18.9, 18.1). A vehicle with ID 48 is 30.5 meters away at (-22.4, -20.8). A vehicle with ID 56 is 30.6 meters away at (21.6, -21.7). A vehicle with ID 55 is 32.6 meters away at (1.2, 32.6).

The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.72477806 0.00387801] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [-2.4793406  1.6141554] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.82951665  0.65236455] m/s.The vehicle with ID 62 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 vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.2320832 -2.2146597] m/s.The vehicle with ID 48 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.5, -6.3) m/s. Its current heading (yaw) is -0.58 radians with an angular velocity of -0.58 rad/s.

The most relevant actors are: A unknown object with ID 47 is 5.2 meters away at (-2.9, 4.3). A vehicle with ID 22 is 5.7 meters away at (-2.9, -4.9). A vehicle with ID 62 is 8.3 meters away at (-8.2, -1.5). A vehicle with ID 56 is 9.1 meters away at (2.3, -8.8). A vehicle with ID 21 is 14.9 meters away at (8.2, -12.5). A vehicle with ID 58 is 16.6 meters away at (16.0, 4.4). A vehicle with ID 33 is 18.0 meters away at (-7.9, 16.2). A pedestrian with ID 80 is 19.3 meters away at (-18.6, 5.1). A vehicle with ID 19 is 21.7 meters away at (14.2, -16.4). A pedestrian with ID 18 is 24.8 meters away at (12.0, -21.7).

The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 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 21 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 [-6.1755047  4.053451 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 80 is traveling at a (x, y) velocity of [0.8302587 1.123173 ] m/s.The vehicle with ID 19 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 [ 0.81987095 -0.6296174 ] 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 1.34 radians with an angular velocity of 1.34 rad/s.

The most relevant actors are: A pedestrian with ID 60 is 13.9 meters away at (-9.2, -10.4). A pedestrian with ID 61 is 20.1 meters away at (-11.5, -16.4). A pedestrian with ID 62 is 20.7 meters away at (-12.9, -16.2). A pedestrian with ID 59 is 29.0 meters away at (28.1, 7.2). A pedestrian with ID 63 is 31.7 meters away at (-10.6, -29.8). A pedestrian with ID 64 is 42.0 meters away at (41.9, -1.3). A unknown object with ID 65 is 42.1 meters away at (42.0, -2.4). A unknown object with ID 57 is 42.5 meters away at (42.1, -5.9). A unknown object with ID 5 is 43.7 meters away at (43.1, -7.4). A vehicle with ID 66 is 44.2 meters away at (-4.6, -43.9).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-4.7206126e-05  1.2802361e+00] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.54783374 0.01706585] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [0.18205218 0.09469869] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.0027572  -0.00067073] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.00795819 -0.00820469] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [ 0.00252178 -0.01225339] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.5) m/s. Its current heading (yaw) is 1.10 radians with an angular velocity of 1.10 rad/s.

The most relevant actors are: A pedestrian with ID 60 is 13.2 meters away at (-9.4, -9.2). A pedestrian with ID 61 is 21.0 meters away at (-11.0, -17.9). A pedestrian with ID 59 is 28.4 meters away at (27.7, 6.3). A pedestrian with ID 63 is 32.9 meters away at (-10.6, -31.1). A unknown object with ID 9 is 41.5 meters away at (41.3, -4.6). A pedestrian with ID 64 is 41.7 meters away at (41.6, -2.0). A unknown object with ID 65 is 41.8 meters away at (41.7, -3.0). A unknown object with ID 55 is 42.0 meters away at (41.9, -2.9). A unknown object with ID 57 is 42.3 meters away at (41.7, -6.7). A pedestrian with ID 39 is 42.4 meters away at (42.3, -1.6).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00967975 1.1887845 ] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [0.34167343 0.02004788] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.00847488  0.00402652] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [ 0.0279291 -0.0351178] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00790127  0.03712222] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 pedestrian with ID 39 is traveling at a (x, y) velocity of [0.01472138 0.10398811] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 0.9) m/s. Its current heading (yaw) is 0.35 radians with an angular velocity of 0.35 rad/s.

The most relevant actors are: A pedestrian with ID 60 is 16.0 meters away at (-12.7, -9.7). A pedestrian with ID 59 is 24.5 meters away at (24.3, 3.3). A pedestrian with ID 61 is 25.4 meters away at (-14.4, -20.9). A pedestrian with ID 63 is 36.9 meters away at (-14.2, -34.1). A unknown object with ID 9 is 38.6 meters away at (37.8, -7.7). A unknown object with ID 65 is 38.7 meters away at (38.3, -6.1). A pedestrian with ID 64 is 38.8 meters away at (38.6, -3.7). A unknown object with ID 12 is 38.9 meters away at (38.5, -5.8). A unknown object with ID 55 is 39.1 meters away at (38.6, -6.1). A pedestrian with ID 39 is 39.3 meters away at (39.1, -3.4).

The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.02849605  1.3163468 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00526624 -0.01291506] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.00431116  0.00966582] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.04153723  0.00460123] 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.2659575  0.49905068] 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.19939   0.6217406] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, -1.2) m/s. Its current heading (yaw) is -0.31 radians with an angular velocity of -0.31 rad/s.

The most relevant actors are: A pedestrian with ID 59 is 18.2 meters away at (17.9, 3.4). A pedestrian with ID 60 is 20.5 meters away at (-19.3, -6.9). A pedestrian with ID 36 is 22.8 meters away at (22.7, 1.6). A pedestrian with ID 61 is 29.4 meters away at (-21.1, -20.4). A unknown object with ID 9 is 32.3 meters away at (31.3, -7.8). A unknown object with ID 65 is 32.4 meters away at (31.8, -6.3). A pedestrian with ID 64 is 32.5 meters away at (32.4, -2.5). A unknown object with ID 12 is 32.6 meters away at (32.1, -5.9). A pedestrian with ID 39 is 33.0 meters away at (32.9, -2.1). A unknown object with ID 57 is 33.3 meters away at (31.8, -9.9).

The pedestrian with ID 59 is traveling at a (x, y) velocity of [ 0.00030206 -0.00856819] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.00268578 1.2715431 ] m/s.The pedestrian with ID 36 is traveling at a (x, y) velocity of [-0.00957467 -0.02227692] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.11009191  0.06145162] 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 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.0966654  0.34278542] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 39 is traveling at a (x, y) velocity of [0.22001436 0.5825719 ] m/s.The unknown object with ID 57 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 (1.1, -0.6) m/s. Its current heading (yaw) is -0.54 radians with an angular velocity of -0.54 rad/s.

The most relevant actors are: A unknown object with ID 45 is 10.1 meters away at (-8.2, -6.0). A unknown object with ID 49 is 10.5 meters away at (-6.9, -7.9). A unknown object with ID 39 is 11.0 meters away at (-9.9, -4.8). A unknown object with ID 50 is 12.2 meters away at (-7.0, -10.0). A unknown object with ID 48 is 13.8 meters away at (-8.5, -10.9). A unknown object with ID 47 is 14.1 meters away at (-10.1, -9.8). A unknown object with ID 66 is 20.1 meters away at (-19.9, 2.7). A unknown object with ID 68 is 22.1 meters away at (-21.7, 4.1). A unknown object with ID 71 is 23.8 meters away at (-23.2, 5.4). A unknown object with ID 52 is 25.7 meters away at (-24.8, 6.7).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A unknown object with ID 45 is 10.3 meters away at (-8.7, -5.6). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.6). A unknown object with ID 50 is 12.1 meters away at (-7.4, -9.5). A unknown object with ID 66 is 20.7 meters away at (-20.4, 3.0). A unknown object with ID 68 is 22.6 meters away at (-22.1, 4.4). A unknown object with ID 71 is 24.4 meters away at (-23.7, 5.7). A unknown object with ID 75 is 26.6 meters away at (-25.6, 7.2). A unknown object with ID 54 is 27.0 meters away at (-26.9, 1.2). A unknown object with ID 80 is 27.7 meters away at (-26.5, 8.1). A unknown object with ID 56 is 29.9 meters away at (-28.4, 9.4).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 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 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A unknown object with ID 45 is 10.4 meters away at (-8.8, -5.5). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.5). A unknown object with ID 50 is 12.1 meters away at (-7.5, -9.5). A vehicle with ID 105 is 20.3 meters away at (15.2, -13.5). A unknown object with ID 66 is 20.7 meters away at (-20.5, 3.1). A unknown object with ID 68 is 22.7 meters away at (-22.2, 4.5). A unknown object with ID 71 is 24.5 meters away at (-23.8, 5.8). A unknown object with ID 75 is 26.7 meters away at (-25.7, 7.3). A unknown object with ID 80 is 27.8 meters away at (-26.6, 8.1). A unknown object with ID 24 is 28.9 meters away at (-27.5, 8.8).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [-5.213357   1.5477434] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -0.53 radians with an angular velocity of -0.53 rad/s.

The most relevant actors are: A unknown object with ID 45 is 10.4 meters away at (-8.8, -5.6). A unknown object with ID 49 is 10.6 meters away at (-7.4, -7.5). A vehicle with ID 105 is 10.6 meters away at (4.6, -9.5). A unknown object with ID 50 is 12.2 meters away at (-7.5, -9.5). A unknown object with ID 66 is 20.7 meters away at (-20.5, 3.1). A unknown object with ID 68 is 22.7 meters away at (-22.2, 4.5). A unknown object with ID 71 is 24.5 meters away at (-23.8, 5.8). A unknown object with ID 75 is 26.7 meters away at (-25.7, 7.3). A unknown object with ID 80 is 27.8 meters away at (-26.6, 8.1). A unknown object with ID 24 is 28.9 meters away at (-27.5, 8.8).

The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 105 is traveling at a (x, y) velocity of [-5.447596   2.3352354] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 80 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: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -1.0) m/s. Its current heading (yaw) is -0.67 radians with an angular velocity of -0.67 rad/s.

The most relevant actors are: A vehicle with ID 16 is 13.9 meters away at (4.4, -13.1). A unknown object with ID 18 is 18.2 meters away at (9.1, -15.7). A unknown object with ID 19 is 44.2 meters away at (-42.1, 13.4). A unknown object with ID 20 is 46.7 meters away at (-43.6, 16.7). A vehicle with ID 22 is 51.6 meters away at (44.5, 26.3). A pedestrian with ID 23 is 61.8 meters away at (-49.2, 37.3). A unknown object with ID 12 is 62.8 meters away at (-46.6, 42.1). A pedestrian with ID 25 is 75.0 meters away at (-56.7, 49.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [-0.03444428 -0.04822557] 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 [-0.08653574  0.06913288] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.7, -3.1) m/s. Its current heading (yaw) is -1.34 radians with an angular velocity of -1.34 rad/s.

The most relevant actors are: A vehicle with ID 16 is 9.4 meters away at (1.7, -9.3). A unknown object with ID 18 is 13.4 meters away at (6.4, -11.8). A unknown object with ID 19 is 48.1 meters away at (-45.0, 16.9). A unknown object with ID 20 is 50.7 meters away at (-46.5, 20.1). A vehicle with ID 22 is 51.4 meters away at (41.6, 30.3). A vehicle with ID 4 is 52.4 meters away at (-36.9, -37.2). A pedestrian with ID 23 is 66.3 meters away at (-52.2, 40.9). A unknown object with ID 12 is 67.6 meters away at (-49.8, 45.8).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [ 0.02858299 -0.00519595] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -3.9) m/s. Its current heading (yaw) is -2.16 radians with an angular velocity of -2.16 rad/s.

The most relevant actors are: A vehicle with ID 16 is 4.0 meters away at (3.5, -2.1). A unknown object with ID 15 is 18.2 meters away at (4.8, 17.5). A vehicle with ID 4 is 46.1 meters away at (-35.2, -29.7). A vehicle with ID 22 is 57.4 meters away at (43.7, 37.2). A vehicle with ID 2 is 68.1 meters away at (-50.8, -45.3). A pedestrian with ID 23 is 69.7 meters away at (-50.0, 48.5). A vehicle with ID 1 is 78.4 meters away at (-57.9, -52.8).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 23 is traveling at a (x, y) velocity of [0.12076696 0.12057264] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -5.8) m/s. Its current heading (yaw) is -2.25 radians with an angular velocity of -2.25 rad/s.

The most relevant actors are: A vehicle with ID 16 is 13.5 meters away at (11.1, 7.7). A unknown object with ID 15 is 30.2 meters away at (12.6, 27.4). A vehicle with ID 4 is 34.0 meters away at (-27.7, -19.8). A vehicle with ID 2 is 56.0 meters away at (-43.3, -35.4). A vehicle with ID 1 is 66.2 meters away at (-50.4, -42.9). A pedestrian with ID 3 is 69.3 meters away at (-53.4, -44.1). A vehicle with ID 22 is 69.5 meters away at (51.4, 46.9).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [ 0.05181491 -0.04634301] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, -2.4) m/s. Its current heading (yaw) is -1.54 radians with an angular velocity of -1.54 rad/s.

The most relevant actors are: A vehicle with ID 11 is 32.0 meters away at (9.0, 30.7). A vehicle with ID 12 is 65.9 meters away at (-1.9, -65.8).

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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.3) m/s. Its current heading (yaw) is -1.55 radians with an angular velocity of -1.55 rad/s.

The most relevant actors are: A vehicle with ID 12 is 63.1 meters away at (-2.0, -63.1).

The vehicle with ID 12 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, -0.9) m/s. Its current heading (yaw) is -1.53 radians with an angular velocity of -1.53 rad/s.

The most relevant actors are: A pedestrian with ID 1 is 32.4 meters away at (-13.8, -29.3). A vehicle with ID 12 is 62.3 meters away at (-2.0, -62.3).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.3993902 -0.0113449] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -3.6) m/s. Its current heading (yaw) is -1.51 radians with an angular velocity of -1.51 rad/s.

The most relevant actors are: A pedestrian with ID 1 is 26.7 meters away at (-10.7, -24.4). A cyclist with ID 7 is 37.9 meters away at (9.0, 36.9). A vehicle with ID 12 is 57.6 meters away at (-2.2, -57.6).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [1.5880508  0.13234274] m/s.The cyclist with ID 7 is traveling at a (x, y) velocity of [-0.00808737  0.0045343 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.7, -1.0) m/s. Its current heading (yaw) is -2.77 radians with an angular velocity of -2.77 rad/s.

The most relevant actors are: A unknown object with ID 23 is 3.0 meters away at (1.4, -2.6). A pedestrian with ID 6 is 4.3 meters away at (0.7, 4.2). A unknown object with ID 25 is 8.5 meters away at (8.1, 2.7). A unknown object with ID 32 is 23.1 meters away at (10.4, 20.6). A vehicle with ID 30 is 25.1 meters away at (6.0, 24.4). A vehicle with ID 29 is 29.5 meters away at (-0.3, 29.5). A vehicle with ID 31 is 30.5 meters away at (-10.9, 28.5). A vehicle with ID 39 is 41.3 meters away at (-20.1, 36.1). A vehicle with ID 40 is 49.2 meters away at (-18.6, 45.6).

The unknown object with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.00491362 -0.00632742] 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 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 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, 1.1) m/s. Its current heading (yaw) is 2.73 radians with an angular velocity of 2.73 rad/s.

The most relevant actors are: A unknown object with ID 17 is 6.4 meters away at (0.1, -6.4). A unknown object with ID 23 is 7.4 meters away at (6.9, -2.7). A pedestrian with ID 6 is 7.4 meters away at (6.1, 4.2). A unknown object with ID 32 is 25.9 meters away at (15.9, 20.5). A vehicle with ID 30 is 26.9 meters away at (11.5, 24.3). A vehicle with ID 31 is 29.0 meters away at (-5.4, 28.5). A vehicle with ID 29 is 29.9 meters away at (5.3, 29.5). A vehicle with ID 40 is 47.2 meters away at (-12.9, 45.4).

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 pedestrian with ID 6 is traveling at a (x, y) velocity of [0.03506949 0.00879005] m/s.The unknown object 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 31 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 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 2.7) 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 pedestrian with ID 4 is 9.3 meters away at (1.6, -9.2). A unknown object with ID 12 is 10.5 meters away at (-5.2, 9.1). A vehicle with ID 31 is 24.5 meters away at (-1.5, 24.5). A vehicle with ID 30 is 25.5 meters away at (15.3, 20.3). A unknown object with ID 32 is 25.7 meters away at (19.8, 16.4). A vehicle with ID 29 is 27.0 meters away at (9.1, 25.4). A vehicle with ID 2 is 34.0 meters away at (-10.6, 32.3). A vehicle with ID 40 is 42.5 meters away at (-9.2, 41.5).

The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00172126 -0.00219376] m/s.The unknown object with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 1.9) m/s. Its current heading (yaw) is 1.16 radians with an angular velocity of 1.16 rad/s.

The most relevant actors are: A pedestrian with ID 8 is 3.5 meters away at (3.4, 0.7). A pedestrian with ID 4 is 14.3 meters away at (1.4, -14.2). A unknown object with ID 15 is 17.5 meters away at (15.3, -8.5). A unknown object with ID 5 is 18.3 meters away at (17.2, -6.4). A vehicle with ID 31 is 19.6 meters away at (-1.7, 19.6). A vehicle with ID 30 is 21.6 meters away at (15.2, 15.4). A vehicle with ID 29 is 22.4 meters away at (9.0, 20.5). A unknown object with ID 32 is 22.7 meters away at (19.6, 11.5). A vehicle with ID 2 is 29.3 meters away at (-10.8, 27.2). A vehicle with ID 40 is 37.6 meters away at (-9.2, 36.5).

The pedestrian with ID 8 is traveling at a (x, y) velocity of [0.05605868 0.11051984] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.00636415  0.01050155] 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 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -3.8) 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 pedestrian with ID 105 is 5.4 meters away at (-4.1, 3.5). A vehicle with ID 4 is 9.4 meters away at (3.0, 8.9). A pedestrian with ID 107 is 10.6 meters away at (-8.8, -6.0). A pedestrian with ID 92 is 12.2 meters away at (-11.8, 2.8). A vehicle with ID 106 is 12.4 meters away at (10.0, 7.4). A vehicle with ID 108 is 15.9 meters away at (2.2, 15.7). A vehicle with ID 109 is 17.6 meters away at (11.7, 13.1). A vehicle with ID 112 is 19.4 meters away at (11.8, -15.4). A vehicle with ID 113 is 21.3 meters away at (-16.8, -13.0). A vehicle with ID 111 is 21.5 meters away at (4.1, 21.1).

The pedestrian with ID 105 is traveling at a (x, y) velocity of [0.4030986 1.0533143] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-0.58501506 -1.6147287 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.5080399 -1.6472853] m/s.The pedestrian with ID 92 is traveling at a (x, y) velocity of [0.00382446 0.00069398] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 111 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -6.3) m/s. Its current heading (yaw) is -1.90 radians with an angular velocity of -1.90 rad/s.

The most relevant actors are: A pedestrian with ID 107 is 6.3 meters away at (-6.2, 0.8). A vehicle with ID 125 is 12.7 meters away at (0.4, -12.7). A vehicle with ID 113 is 13.6 meters away at (-13.3, -2.9). A vehicle with ID 4 is 13.7 meters away at (4.4, 12.9). A pedestrian with ID 105 is 15.9 meters away at (-0.0, 15.9). A vehicle with ID 112 is 16.2 meters away at (15.3, -5.3). A unknown object with ID 118 is 17.8 meters away at (7.4, -16.1). A vehicle with ID 117 is 18.9 meters away at (-18.2, -5.2). A vehicle with ID 115 is 19.4 meters away at (-19.4, -0.2). A vehicle with ID 106 is 22.1 meters away at (13.4, 17.6).

The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.45354196 -1.7084174 ] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0.4689009 1.4772393] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-1.6770265 -4.571848 ] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [0.10564918 1.0868282 ] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 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 vehicle with ID 106 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -7.4) 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 125 is 6.6 meters away at (5.6, 3.5). A pedestrian with ID 107 is 11.6 meters away at (-2.6, 11.3). A unknown object with ID 118 is 12.1 meters away at (11.8, -2.5). A pedestrian with ID 120 is 13.2 meters away at (5.8, -11.8). A vehicle with ID 113 is 13.9 meters away at (-8.9, 10.6). A vehicle with ID 4 is 15.8 meters away at (4.8, 15.0). A vehicle with ID 117 is 16.1 meters away at (-13.7, 8.3). A vehicle with ID 115 is 20.1 meters away at (-15.1, 13.3). A vehicle with ID 112 is 21.4 meters away at (19.7, 8.3). A vehicle with ID 122 is 23.8 meters away at (23.4, -4.1).

The vehicle with ID 125 is traveling at a (x, y) velocity of [0.45321056 1.7129234 ] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.4341069 -1.6045903] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.57387924 -1.4047561 ] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.225997 -6.871567] m/s.The vehicle with ID 117 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 vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.6) m/s. Its current heading (yaw) is -1.86 radians with an angular velocity of -1.86 rad/s.

The most relevant actors are: A pedestrian with ID 120 is 9.4 meters away at (9.4, 0.2). A vehicle with ID 81 is 12.0 meters away at (-0.8, -12.0). A vehicle with ID 44 is 13.0 meters away at (2.2, -12.8). A vehicle with ID 40 is 13.5 meters away at (-6.6, -11.7). A vehicle with ID 4 is 16.2 meters away at (5.0, 15.4). A vehicle with ID 38 is 18.3 meters away at (0.3, -18.3). A unknown object with ID 118 is 20.5 meters away at (16.4, 12.3). A vehicle with ID 69 is 20.8 meters away at (-15.5, -13.8). A pedestrian with ID 107 is 23.2 meters away at (1.3, 23.1). A vehicle with ID 117 is 25.1 meters away at (-9.1, 23.3).

The pedestrian with ID 120 is traveling at a (x, y) velocity of [-0.37711465 -1.4612929 ] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [1.0800382 2.8813987] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-2.4026175 -7.5667005] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 118 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 107 is traveling at a (x, y) velocity of [-0.43211338 -1.4424474 ] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 10.6) m/s. Its current heading (yaw) is 1.18 radians with an angular velocity of 1.18 rad/s.

The most relevant actors are: A vehicle with ID 35 is 8.5 meters away at (6.0, -6.1). A vehicle with ID 38 is 15.1 meters away at (9.5, -11.7). A vehicle with ID 45 is 21.4 meters away at (19.8, 8.3). A unknown object with ID 23 is 22.4 meters away at (4.0, 22.0). A vehicle with ID 37 is 31.8 meters away at (6.4, -31.1). A cyclist with ID 39 is 41.3 meters away at (23.0, -34.3). A vehicle with ID 30 is 48.0 meters away at (28.4, 38.7). A vehicle with ID 18 is 64.6 meters away at (38.8, 51.6). A vehicle with ID 13 is 69.6 meters away at (37.1, 58.9). A vehicle with ID 40 is 77.5 meters away at (56.3, -53.2).

The vehicle with ID 35 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 [ -6.7823315 -13.812994 ] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ -5.6953626 -13.839275 ] m/s.The unknown object with ID 23 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 [ -7.9513955 -14.30899  ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-7.4308243  1.6232284] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -4.761475 -16.778252] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -2.5800686 -10.69214  ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -4.189086 -16.231756] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ 4.3429523 -9.112262 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.9, 11.3) 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 23 is 4.8 meters away at (-4.7, 0.4). A vehicle with ID 30 is 18.4 meters away at (8.9, -16.1). A vehicle with ID 13 is 20.4 meters away at (19.8, 4.7). A vehicle with ID 18 is 27.5 meters away at (26.1, 8.9). A vehicle with ID 35 is 27.8 meters away at (-2.5, -27.7). A vehicle with ID 45 is 40.8 meters away at (-1.7, -40.8). A vehicle with ID 17 is 43.8 meters away at (30.3, 31.6). A cyclist with ID 39 is 58.0 meters away at (2.6, -57.9). A vehicle with ID 38 is 62.8 meters away at (-13.9, -61.3). A vehicle with ID 28 is 70.5 meters away at (34.2, 61.6).

The unknown object with ID 23 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 [ -6.6216063 -16.059095 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -5.107368 -16.199198] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -1.2909176 -10.275955 ] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [ -7.297208  -13.6331835] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.8700796 -8.926162 ] m/s.The cyclist with ID 39 is traveling at a (x, y) velocity of [-5.142778 -2.447718] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -8.285701 -14.025588] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.199934 -12.846581] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 11.9) m/s. Its current heading (yaw) is 1.32 radians with an angular velocity of 1.32 rad/s.

The most relevant actors are: A vehicle with ID 17 is 21.2 meters away at (19.5, -8.3). A vehicle with ID 28 is 25.2 meters away at (21.2, 13.6). A unknown object with ID 23 is 25.5 meters away at (-11.9, -22.5). A vehicle with ID 18 is 38.7 meters away at (18.3, -34.1). A vehicle with ID 13 is 49.8 meters away at (0.8, -49.8). A vehicle with ID 35 is 51.5 meters away at (-9.7, -50.6). A vehicle with ID 24 is 52.6 meters away at (28.8, 44.0). A unknown object with ID 11 is 54.7 meters away at (36.1, 41.2). A unknown object with ID 27 is 55.3 meters away at (38.7, 39.4). A unknown object with ID 10 is 58.4 meters away at (37.6, 44.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [-1.6066723 -8.069141 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ -3.0879276 -12.4892845] m/s.The unknown object with ID 23 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 [ 0.6964672 -9.329475 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [ -7.2011256 -15.666733 ] m/s.The vehicle with ID 35 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 [ -3.2571795 -13.054582 ] 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 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.6, 12.0) m/s. Its current heading (yaw) is 1.36 radians with an angular velocity of 1.36 rad/s.

The most relevant actors are: A vehicle with ID 24 is 17.7 meters away at (16.6, -6.1). A vehicle with ID 14 is 21.0 meters away at (19.7, 7.4). A unknown object with ID 11 is 35.0 meters away at (30.3, 17.5). A vehicle with ID 28 is 36.2 meters away at (9.2, -35.0). A unknown object with ID 10 is 38.3 meters away at (31.9, 21.2). A unknown object with ID 9 is 39.8 meters away at (32.5, 23.0). A unknown object with ID 8 is 41.6 meters away at (33.2, 25.0). A unknown object with ID 7 is 43.0 meters away at (33.7, 26.7). A unknown object with ID 6 is 46.4 meters away at (35.0, 30.4). A vehicle with ID 17 is 49.2 meters away at (11.9, -47.7).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ -3.294423 -12.999698] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ -3.3990817 -13.05217  ] m/s.The unknown object with ID 11 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 [ -3.5849059 -12.549026 ] 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 9 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 unknown object with ID 6 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 [-0.26604387 -7.3851686 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.1, 4.8) m/s. Its current heading (yaw) is 1.56 radians with an angular velocity of 1.56 rad/s.

The most relevant actors are: A pedestrian with ID 1 is 32.6 meters away at (-5.7, 32.1). A cyclist with ID 24 is 32.8 meters away at (-5.5, 32.3). A vehicle with ID 27 is 40.7 meters away at (0.4, -40.7). A vehicle with ID 28 is 58.9 meters away at (6.4, -58.5). A vehicle with ID 26 is 63.2 meters away at (-6.1, 62.9).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 0.00547208 -0.00140653] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.01128798  0.00855082] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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, 5.3) m/s. Its current heading (yaw) is 1.58 radians with an angular velocity of 1.58 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 22.3 meters away at (5.4, 21.6). A pedestrian with ID 1 is 22.6 meters away at (-5.7, 21.9). A pedestrian with ID 14 is 22.6 meters away at (-8.8, 20.8). A cyclist with ID 24 is 22.8 meters away at (-5.4, 22.1). A pedestrian with ID 15 is 23.6 meters away at (-9.2, 21.7). A vehicle with ID 27 is 51.1 meters away at (0.4, -51.0). A vehicle with ID 26 is 53.0 meters away at (-6.0, 52.7). A vehicle with ID 28 is 69.2 meters away at (6.4, -68.9).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [0.32712108 0.9589955 ] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.01866948 0.02278107] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.0024002   0.01372401] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [0.04359319 0.03123411] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.01444392 0.01522914] 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. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 5.1) 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 1 is 12.6 meters away at (-5.4, 11.4). A cyclist with ID 24 is 12.8 meters away at (-5.1, 11.7). A pedestrian with ID 14 is 13.6 meters away at (-8.7, 10.4). A pedestrian with ID 15 is 14.4 meters away at (-8.9, 11.3). A vehicle with ID 26 is 42.6 meters away at (-5.8, 42.2). A unknown object with ID 3 is 47.9 meters away at (-11.2, 46.6). A vehicle with ID 27 is 61.5 meters away at (0.6, -61.5). A vehicle with ID 28 is 79.6 meters away at (6.6, -79.3).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [0.00250453 0.00301612] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [0.07341815 0.03274047] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.01197135 0.00591901] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.02387566 0.00038249] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, 4.3) m/s. Its current heading (yaw) is 1.62 radians with an angular velocity of 1.62 rad/s.

The most relevant actors are: A cyclist with ID 24 is 5.2 meters away at (-4.8, 2.2). A pedestrian with ID 1 is 5.3 meters away at (-5.0, 1.9). A pedestrian with ID 15 is 8.8 meters away at (-8.6, 1.8). A vehicle with ID 26 is 33.1 meters away at (-5.5, 32.7). A pedestrian with ID 2 is 38.0 meters away at (-11.8, 36.1). A unknown object with ID 3 is 38.4 meters away at (-11.2, 36.7). A unknown object with ID 4 is 38.5 meters away at (-10.8, 37.0). A vehicle with ID 27 is 71.0 meters away at (0.9, -71.0).

The cyclist with ID 24 is traveling at a (x, y) velocity of [-0.01652559 -0.00077717] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.00322658  0.01025405] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-0.01844566  0.02474852] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 2 is traveling at a (x, y) velocity of [-0.01330663  0.00217261] m/s.The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The 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 (-2.6, -1.9) m/s. Its current heading (yaw) is -2.51 radians with an angular velocity of -2.51 rad/s.

The most relevant actors are: A pedestrian with ID 3 is 4.4 meters away at (0.3, 4.3). A pedestrian with ID 6 is 5.1 meters away at (1.6, 4.8). A pedestrian with ID 26 is 5.5 meters away at (0.3, 5.5). A pedestrian with ID 27 is 6.0 meters away at (-0.2, 6.0). A vehicle with ID 28 is 13.2 meters away at (-9.9, -8.9). A vehicle with ID 36 is 17.1 meters away at (15.1, 8.0). A pedestrian with ID 31 is 27.8 meters away at (-6.4, -27.0). A pedestrian with ID 32 is 27.9 meters away at (-5.6, -27.3). A pedestrian with ID 34 is 33.4 meters away at (-7.2, -32.6). A pedestrian with ID 35 is 33.7 meters away at (-6.4, -33.1).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.117759  -0.7637437] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0577979 -0.7763894] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.9364313 -0.674932 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.89589113 -0.68044305] m/s.The vehicle with ID 28 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 [-6.3139296 -4.9839215] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.51435363 -1.0651126 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.54211044 -1.0642945 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.5473345 -1.1431963] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.6224357 -1.1393527] m/s.

Instruction: Continue straight.


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 -2.35 radians with an angular velocity of -2.35 rad/s.

The most relevant actors are: A pedestrian with ID 3 is 5.9 meters away at (1.7, 5.6). A vehicle with ID 36 is 6.9 meters away at (6.7, 1.4). A pedestrian with ID 6 is 6.9 meters away at (3.1, 6.2). A pedestrian with ID 26 is 7.5 meters away at (2.2, 7.1). A pedestrian with ID 27 is 7.9 meters away at (1.7, 7.7). A vehicle with ID 28 is 10.0 meters away at (-7.3, -6.8). A pedestrian with ID 31 is 26.3 meters away at (-3.6, -26.0). A pedestrian with ID 32 is 26.6 meters away at (-2.9, -26.5). A pedestrian with ID 34 is 32.4 meters away at (-4.8, -32.1). A pedestrian with ID 35 is 32.5 meters away at (-3.8, -32.2).

The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.0657053  -0.68914247] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-5.2457    -4.3602276] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.9448032 -0.745224 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.83832973 -0.7002731 ] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.83889884 -0.6939211 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-1.7217366 -1.6946138] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.4563749 -0.9239412] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.51870817 -0.8907469 ] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [-0.33789462 -1.2415543 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.17862348 -1.1784286 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -1.9) m/s. Its current heading (yaw) is -2.38 radians with an angular velocity of -2.38 rad/s.

The most relevant actors are: A vehicle with ID 36 is 3.8 meters away at (0.6, -3.8). A pedestrian with ID 3 is 6.9 meters away at (2.2, 6.6). A pedestrian with ID 6 is 8.2 meters away at (4.0, 7.2). A pedestrian with ID 26 is 9.0 meters away at (3.3, 8.4). A pedestrian with ID 27 is 9.5 meters away at (2.8, 9.1). A vehicle with ID 28 is 16.1 meters away at (-11.6, -11.2). A pedestrian with ID 31 is 25.4 meters away at (-1.4, -25.4). A pedestrian with ID 32 is 25.7 meters away at (-0.7, -25.7). A pedestrian with ID 35 is 32.0 meters away at (-0.9, -32.0). A pedestrian with ID 34 is 32.0 meters away at (-2.0, -31.9).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-3.6133249 -3.7046611] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.0815625 -0.7737154] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.93080336 -0.7429726 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.8820251  -0.65464807] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.87801737 -0.6105555 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-4.7198772 -4.7614975] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.24028337 -0.8582071 ] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.21776852 -0.8386662 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.33962905 -0.90445125] m/s.The pedestrian with ID 34 is traveling at a (x, y) velocity of [ 0.38500708 -1.0309701 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.4, -3.1) m/s. Its current heading (yaw) is -2.41 radians with an angular velocity of -2.41 rad/s.

The most relevant actors are: A vehicle with ID 36 is 6.9 meters away at (1.9, -6.6). A pedestrian with ID 3 is 12.0 meters away at (5.5, 10.6). A pedestrian with ID 6 is 13.3 meters away at (7.7, 10.8). A pedestrian with ID 26 is 14.3 meters away at (7.2, 12.3). A pedestrian with ID 27 is 14.6 meters away at (6.8, 13.0). A unknown object with ID 20 is 18.3 meters away at (12.1, 13.8). A pedestrian with ID 31 is 22.2 meters away at (4.3, -21.8). A pedestrian with ID 32 is 22.8 meters away at (4.8, -22.3). A vehicle with ID 28 is 24.6 meters away at (-17.2, -17.6). A pedestrian with ID 35 is 28.7 meters away at (6.0, -28.1).

The vehicle with ID 36 is traveling at a (x, y) velocity of [-0.68507594 -4.6888237 ] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [-1.2398098 -0.4654068] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [-1.0548921 -0.8915163] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-1.0148814  -0.70357627] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [-0.976008   -0.72450584] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 0.3276953 -0.9073917] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [-0.09831058 -1.0567895 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [-6.3965693 -7.173534 ] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [ 0.69143665 -0.72210354] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 1.5) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A vehicle with ID 41 is 20.6 meters away at (13.0, -16.0). A unknown object with ID 25 is 37.9 meters away at (-17.8, -33.5). A unknown object with ID 46 is 39.0 meters away at (-38.1, -8.2). A vehicle with ID 44 is 39.5 meters away at (-32.7, -22.2). A unknown object with ID 47 is 40.6 meters away at (-39.3, -9.9). A vehicle with ID 45 is 46.7 meters away at (46.7, 0.6). A pedestrian with ID 48 is 47.0 meters away at (-46.3, -7.7). A vehicle with ID 24 is 47.2 meters away at (-47.1, -3.4). A vehicle with ID 49 is 47.6 meters away at (-47.5, -3.3). A pedestrian with ID 43 is 48.4 meters away at (31.3, -37.0).

The vehicle with ID 41 is traveling at a (x, y) velocity of [ 9.2494   -8.156403] 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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.6917272   0.62133366] m/s.The vehicle with ID 24 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 pedestrian with ID 43 is traveling at a (x, y) velocity of [ 1.1729656  -0.88593686] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 3.0) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A unknown object with ID 46 is 35.8 meters away at (-33.3, -13.1). A unknown object with ID 47 is 37.1 meters away at (-34.2, -14.2). A pedestrian with ID 33 is 37.7 meters away at (-24.5, -28.6). A vehicle with ID 44 is 38.3 meters away at (-27.7, -26.4). A unknown object with ID 25 is 39.8 meters away at (-12.6, -37.7). A pedestrian with ID 48 is 43.3 meters away at (-42.0, -10.8). A vehicle with ID 24 is 43.7 meters away at (-43.1, -7.4). A vehicle with ID 45 is 52.0 meters away at (51.8, -3.7). A vehicle with ID 41 is 52.3 meters away at (37.1, -36.9). A vehicle with ID 26 is 54.2 meters away at (-44.3, -31.3).

The unknown object with ID 46 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 pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.5317735 -0.4222963] m/s.The vehicle with ID 44 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 pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.33334795  0.32820305] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [ 9.562596 -8.156311] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 0.3377922 -0.1398321] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, 4.5) m/s. Its current heading (yaw) is 2.45 radians with an angular velocity of 2.45 rad/s.

The most relevant actors are: A pedestrian with ID 40 is 18.0 meters away at (-8.0, 16.1). A unknown object with ID 46 is 31.1 meters away at (-23.6, -20.4). A unknown object with ID 47 is 33.2 meters away at (-24.8, -22.1). A pedestrian with ID 48 is 37.8 meters away at (-33.3, -17.8). A vehicle with ID 24 is 37.8 meters away at (-34.5, -15.3). A vehicle with ID 44 is 38.8 meters away at (-18.4, -34.2). A unknown object with ID 34 is 40.5 meters away at (-40.3, -2.9). A vehicle with ID 26 is 51.3 meters away at (-34.1, -38.4). A vehicle with ID 5 is 54.0 meters away at (-54.0, 0.9). A vehicle with ID 45 is 62.3 meters away at (61.2, -11.5).

The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.00512918 -0.02588835] 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 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [-0.08191463  0.1977067 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.5, 4.8) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A pedestrian with ID 40 is 7.5 meters away at (2.6, 7.1). A unknown object with ID 46 is 32.4 meters away at (-12.7, -29.8). A unknown object with ID 47 is 34.5 meters away at (-14.1, -31.5). A vehicle with ID 24 is 34.7 meters away at (-24.2, -24.8). A pedestrian with ID 48 is 35.1 meters away at (-22.4, -27.0). A vehicle with ID 44 is 44.1 meters away at (-7.5, -43.5). A vehicle with ID 5 is 44.2 meters away at (-43.3, -8.4). A vehicle with ID 23 is 52.9 meters away at (-15.6, -50.5). A pedestrian with ID 21 is 58.9 meters away at (-58.8, -2.2). A vehicle with ID 13 is 70.3 meters away at (53.2, -46.0).

The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.24006611  0.15548128] 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 47 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 48 is traveling at a (x, y) velocity of [-0.02153102  0.03983707] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 21 is traveling at a (x, y) velocity of [-0.95856005  0.94172746] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [-7.8982835  6.726638 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, 11.9) m/s. Its current heading (yaw) is 1.18 radians with an angular velocity of 1.18 rad/s.

The most relevant actors are: A unknown object with ID 38 is 18.6 meters away at (2.2, 18.5). A vehicle with ID 44 is 19.9 meters away at (11.1, -16.5). A vehicle with ID 42 is 32.3 meters away at (24.7, -20.8). A vehicle with ID 15 is 36.2 meters away at (9.2, 35.0). A vehicle with ID 45 is 43.4 meters away at (21.9, -37.5). A vehicle with ID 41 is 59.5 meters away at (-8.5, -58.9). A vehicle with ID 49 is 69.3 meters away at (42.1, -55.1). A vehicle with ID 40 is 76.0 meters away at (39.6, 64.9).

The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ -5.664341 -11.996211] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.854253 11.194799] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-4.773393    0.75741595] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.785388 -8.861323] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [-4.070316   7.0282655] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ -3.0825741 -14.640323 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.0, 12.4) 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 unknown object with ID 38 is 8.8 meters away at (-6.8, -5.5). A vehicle with ID 40 is 27.2 meters away at (24.2, 12.4). A vehicle with ID 15 is 33.6 meters away at (5.7, 33.1). A vehicle with ID 42 is 47.5 meters away at (15.9, -44.8). A vehicle with ID 45 is 62.3 meters away at (5.2, -62.1). A vehicle with ID 44 is 64.8 meters away at (-9.9, -64.1).

The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ -3.7469454 -14.238699 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.5659566 11.68633  ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [-3.5605154 -0.9286923] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [ -6.7749896 -11.648977 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 12.7) m/s. Its current heading (yaw) is 1.33 radians with an angular velocity of 1.33 rad/s.

The most relevant actors are: A vehicle with ID 15 is 31.6 meters away at (3.7, 31.4). A vehicle with ID 40 is 41.8 meters away at (8.0, -41.0). A unknown object with ID 19 is 50.2 meters away at (34.7, 36.3). A unknown object with ID 30 is 51.9 meters away at (35.3, 38.1). A unknown object with ID 23 is 53.6 meters away at (35.8, 39.8). A unknown object with ID 31 is 55.8 meters away at (36.6, 42.1). A unknown object with ID 36 is 57.5 meters away at (37.1, 44.0). A unknown object with ID 33 is 58.9 meters away at (37.5, 45.4). A unknown object with ID 26 is 59.7 meters away at (37.7, 46.2). A unknown object with ID 27 is 61.3 meters away at (38.3, 47.9).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.6231225 11.647228 ] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [ -5.1847143 -13.964442 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 31 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 unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.8, 12.5) 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 15 is 29.2 meters away at (3.4, 29.0). A unknown object with ID 19 is 30.9 meters away at (28.9, 11.1). A unknown object with ID 30 is 32.3 meters away at (29.6, 13.1). A unknown object with ID 23 is 33.7 meters away at (30.1, 15.1). A unknown object with ID 31 is 35.1 meters away at (30.7, 16.9). A unknown object with ID 36 is 36.7 meters away at (31.4, 18.9). A unknown object with ID 35 is 36.8 meters away at (34.3, 13.5). A unknown object with ID 26 is 38.1 meters away at (32.0, 20.8). A unknown object with ID 27 is 39.7 meters away at (32.5, 22.9). A unknown object with ID 25 is 41.2 meters away at (33.0, 24.6).

The vehicle with ID 15 is traveling at a (x, y) velocity of [ 2.9276679 11.352858 ] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 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 31 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 unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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 (0.9, -4.0) m/s. Its current heading (yaw) is -1.34 radians with an angular velocity of -1.34 rad/s.

The most relevant actors are: A vehicle with ID 8 is 13.5 meters away at (-3.0, 13.2). A vehicle with ID 66 is 41.5 meters away at (8.7, 40.6). A vehicle with ID 67 is 45.6 meters away at (11.3, 44.2). A vehicle with ID 68 is 49.3 meters away at (9.8, 48.4). A vehicle with ID 64 is 51.2 meters away at (15.9, -48.6). A vehicle with ID 69 is 51.6 meters away at (11.3, 50.3). A pedestrian with ID 65 is 52.3 meters away at (17.3, -49.3). A vehicle with ID 72 is 60.2 meters away at (17.2, 57.7). A vehicle with ID 71 is 60.9 meters away at (4.9, 60.7). A vehicle with ID 73 is 63.9 meters away at (8.7, 63.3).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.59830177 -2.9717255 ] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 68 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.00571722 -0.06460944] 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 73 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, -4.4) m/s. Its current heading (yaw) is -1.32 radians with an angular velocity of -1.32 rad/s.

The most relevant actors are: A vehicle with ID 8 is 14.6 meters away at (-3.6, 14.2). A vehicle with ID 64 is 42.7 meters away at (13.9, -40.4). A pedestrian with ID 65 is 43.7 meters away at (15.2, -41.0). A vehicle with ID 66 is 49.3 meters away at (6.8, 48.8). A vehicle with ID 67 is 53.2 meters away at (9.2, 52.4). A vehicle with ID 69 is 59.3 meters away at (9.3, 58.5). A vehicle with ID 72 is 67.7 meters away at (15.1, 66.0). A vehicle with ID 71 is 69.0 meters away at (2.9, 69.0). A vehicle with ID 73 is 71.9 meters away at (6.6, 71.6). A vehicle with ID 59 is 76.7 meters away at (14.9, -75.3).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 0.900528 -4.428973] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01612918  0.02279809] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 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 73 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 [-0.9359792  3.1273706] 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, -4.6) m/s. Its current heading (yaw) is -1.33 radians with an angular velocity of -1.33 rad/s.

The most relevant actors are: A vehicle with ID 8 is 14.6 meters away at (-3.8, 14.1). A vehicle with ID 64 is 33.5 meters away at (11.7, -31.4). A pedestrian with ID 65 is 34.7 meters away at (13.1, -32.1). A pedestrian with ID 58 is 44.6 meters away at (-19.3, 40.2). A vehicle with ID 66 is 58.0 meters away at (4.6, 57.8). A vehicle with ID 59 is 59.0 meters away at (10.3, -58.1). A vehicle with ID 67 is 61.9 meters away at (7.1, 61.5). A vehicle with ID 69 is 67.9 meters away at (7.2, 67.6).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.1835614 -4.700729 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [ 0.01999883 -0.05024226] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.30020425 -1.2274    ] m/s.The vehicle with ID 66 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 [-1.5266567  5.5200086] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, -4.5) m/s. Its current heading (yaw) is -1.32 radians with an angular velocity of -1.32 rad/s.

The most relevant actors are: A vehicle with ID 8 is 14.1 meters away at (-3.5, 13.7). A vehicle with ID 64 is 24.1 meters away at (9.4, -22.1). A pedestrian with ID 65 is 26.0 meters away at (10.7, -23.7). A vehicle with ID 59 is 36.3 meters away at (4.6, -36.1). A pedestrian with ID 58 is 51.3 meters away at (-20.1, 47.2). A unknown object with ID 51 is 55.0 meters away at (23.1, -49.9). A vehicle with ID 66 is 67.1 meters away at (2.3, 67.0).

The vehicle with ID 8 is traveling at a (x, y) velocity of [ 1.2507087 -4.799067 ] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.27560234 -0.5084599 ] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.6025196  6.398185 ] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.7309515 -1.2570988] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, -1.3) m/s. Its current heading (yaw) is -1.18 radians with an angular velocity of -1.18 rad/s.

The most relevant actors are: A vehicle with ID 1 is 7.7 meters away at (-2.2, 7.4). A vehicle with ID 7 is 18.4 meters away at (-0.4, 18.4). A vehicle with ID 49 is 19.5 meters away at (-9.7, 16.9). A vehicle with ID 39 is 23.4 meters away at (-23.1, -3.7). A pedestrian with ID 40 is 28.3 meters away at (-12.3, -25.5). A vehicle with ID 42 is 38.2 meters away at (-2.8, -38.1). A cyclist with ID 56 is 39.2 meters away at (-32.4, -22.1). A vehicle with ID 38 is 39.4 meters away at (-19.2, -34.4). A vehicle with ID 14 is 40.0 meters away at (12.6, -38.0). A pedestrian with ID 43 is 41.6 meters away at (-29.5, 29.3).

The vehicle with ID 1 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 [-0.9864276 -2.6560555] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ -6.445337 -18.43981 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.1597237   0.41909087] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-4.8683195 -1.2849458] m/s.The cyclist with ID 56 is traveling at a (x, y) velocity of [ 2.4240084 17.324457 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ -2.6351087 -13.685041 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-6.3364434  1.6899127] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [0.12649025 0.33202395] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, -3.8) m/s. Its current heading (yaw) is -0.91 radians with an angular velocity of -0.91 rad/s.

The most relevant actors are: A vehicle with ID 1 is 13.4 meters away at (-5.4, 12.3). A vehicle with ID 7 is 21.5 meters away at (-4.6, 21.0). A pedestrian with ID 40 is 25.0 meters away at (-15.5, -19.6). A vehicle with ID 39 is 26.4 meters away at (-26.3, 2.1). A vehicle with ID 49 is 29.3 meters away at (-24.3, -16.4). A vehicle with ID 14 is 31.1 meters away at (-2.2, -31.0). A cyclist with ID 56 is 32.0 meters away at (-26.4, 18.0). A cyclist with ID 28 is 32.3 meters away at (4.8, -32.0). A vehicle with ID 15 is 36.2 meters away at (-15.8, 32.6). A vehicle with ID 42 is 37.7 meters away at (-13.3, -35.3).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 0.0277852 -1.6399642] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.19499297 -0.7557081 ] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [-0.01175621  0.03532352] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [ -4.5918083 -20.595474 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-4.8398814 -0.412538 ] m/s.The cyclist with ID 56 is traveling at a (x, y) velocity of [ 5.6236534 16.44869  ] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-5.769357   0.7379299] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-2.2515082 -5.6601768] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-2.4742572 -1.2980988] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -3.5) m/s. Its current heading (yaw) is -0.60 radians with an angular velocity of -0.60 rad/s.

The most relevant actors are: A vehicle with ID 1 is 18.2 meters away at (-12.6, 13.1). A cyclist with ID 28 is 26.6 meters away at (-10.5, -24.4). A pedestrian with ID 40 is 26.9 meters away at (-24.0, -12.2). A vehicle with ID 7 is 29.3 meters away at (-13.5, 26.0). A vehicle with ID 14 is 30.8 meters away at (-17.6, -25.3). A vehicle with ID 39 is 36.0 meters away at (-34.8, 9.5). A vehicle with ID 10 is 36.1 meters away at (-25.8, 25.3). A vehicle with ID 42 is 38.0 meters away at (-24.2, -29.3). A vehicle with ID 34 is 41.6 meters away at (-19.3, 36.9). A vehicle with ID 15 is 42.1 meters away at (-27.7, 31.7).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 1.7620239 -4.5255356] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-2.3907316  -0.07337782] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.00279102 -0.00916691] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [-0.19752045 -2.288136  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [-1.7950292 -0.7912873] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -4.924178 -15.257239] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [-0.45487824 -0.29057828] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -4.223757 -11.508434] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [-1.3790832 -3.2147946] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.5, -3.5) m/s. Its current heading (yaw) is -0.50 radians with an angular velocity of -0.50 rad/s.

The most relevant actors are: A vehicle with ID 1 is 19.6 meters away at (-17.0, 9.9). A cyclist with ID 28 is 29.9 meters away at (-24.0, -17.7). A vehicle with ID 14 is 36.0 meters away at (-30.5, -19.0). A pedestrian with ID 40 is 36.0 meters away at (-35.6, -5.3). A vehicle with ID 7 is 36.7 meters away at (-25.4, 26.5). A vehicle with ID 34 is 44.1 meters away at (-39.1, 20.3). A vehicle with ID 10 is 46.4 meters away at (-46.3, 1.4). A vehicle with ID 12 is 47.5 meters away at (-23.0, 41.6). A vehicle with ID 39 is 49.5 meters away at (-46.7, 16.4). A pedestrian with ID 25 is 51.3 meters away at (-9.7, -50.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.008016  -5.2463803] m/s.The cyclist with ID 28 is traveling at a (x, y) velocity of [-0.07002803 -0.0387525 ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 0.14641267 -0.16405703] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [ 0.6363453 -4.466742 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [ -3.4465106 -11.589396 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [ -3.5489762 -15.503301 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-1.5759629 -4.696159 ] m/s.The vehicle with ID 39 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 [-0.00205227 -1.2930338 ] 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 -1.44 radians with an angular velocity of -1.44 rad/s.

The most relevant actors are: A vehicle with ID 65 is 10.0 meters away at (-1.8, 9.9). A pedestrian with ID 9 is 15.4 meters away at (7.7, -13.4). A vehicle with ID 61 is 18.5 meters away at (-3.4, 18.2). A unknown object with ID 62 is 23.7 meters away at (-14.3, -19.0). A vehicle with ID 64 is 25.6 meters away at (-4.8, 25.2). A vehicle with ID 66 is 33.6 meters away at (-6.9, 32.9). A vehicle with ID 63 is 36.0 meters away at (15.8, -32.4). A unknown object with ID 67 is 40.9 meters away at (33.1, -24.0). A vehicle with ID 70 is 43.1 meters away at (-9.6, 42.0). A unknown object with ID 69 is 44.9 meters away at (38.1, -23.8).

The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.11108728 -0.80646384] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [ 0.16765207 -0.425561  ] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -2.8) m/s. Its current heading (yaw) is -1.46 radians with an angular velocity of -1.46 rad/s.

The most relevant actors are: A vehicle with ID 65 is 12.5 meters away at (-2.1, 12.3). A pedestrian with ID 9 is 15.2 meters away at (7.1, -13.4). A vehicle with ID 61 is 21.0 meters away at (-3.6, 20.7). A unknown object with ID 62 is 21.6 meters away at (-14.6, -16.0). A vehicle with ID 64 is 28.1 meters away at (-5.1, 27.6). A unknown object with ID 34 is 31.2 meters away at (19.8, -24.1). A vehicle with ID 63 is 33.3 meters away at (15.5, -29.5). A unknown object with ID 45 is 34.7 meters away at (18.8, -29.2). A vehicle with ID 66 is 35.3 meters away at (-7.0, 34.6). A unknown object with ID 67 is 38.9 meters away at (32.8, -20.8).

The vehicle with ID 65 is traveling at a (x, y) velocity of [ 0.16206762 -0.9884136 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.03150566 -1.5469767 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 0.09991737 -0.532079  ] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [ 0.11618117 -0.41723487] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -5.0) m/s. Its current heading (yaw) is -1.52 radians with an angular velocity of -1.52 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 10.6 meters away at (6.3, -8.5). A vehicle with ID 65 is 15.1 meters away at (-1.8, 15.0). A unknown object with ID 62 is 17.2 meters away at (-15.2, -8.1). A unknown object with ID 26 is 22.2 meters away at (15.7, -15.7). A unknown object with ID 48 is 22.6 meters away at (15.9, -16.0). A vehicle with ID 72 is 23.5 meters away at (-9.6, -21.5). A vehicle with ID 63 is 26.1 meters away at (14.8, -21.5). A vehicle with ID 61 is 26.5 meters away at (-3.8, 26.2). A unknown object with ID 45 is 27.9 meters away at (18.1, -21.2). A unknown object with ID 19 is 28.5 meters away at (20.7, -19.5).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [-0.00660676 -1.5942203 ] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [ 0.7743773 -4.704652 ] m/s.The unknown object with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [0.06857265 5.975539  ] m/s.The vehicle with ID 63 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 [ 0.31595048 -1.981496  ] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.