The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.1, -5.3) 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 vehicle with ID 14 is 12.5 meters away at (-10.3, 7.2). A vehicle with ID 125 is 12.9 meters away at (-11.7, -5.4). A unknown object with ID 86 is 17.0 meters away at (7.9, 15.1). A pedestrian with ID 58 is 17.5 meters away at (-17.3, 2.7). A unknown object with ID 53 is 17.7 meters away at (7.3, 16.1). A unknown object with ID 127 is 17.8 meters away at (-0.4, 17.8). A unknown object with ID 110 is 18.1 meters away at (-18.0, -2.2). A unknown object with ID 123 is 18.1 meters away at (-1.0, 18.1). A pedestrian with ID 108 is 18.9 meters away at (-18.9, -0.9). A unknown object with ID 107 is 19.2 meters away at (-19.2, 0.1).

The vehicle with ID 14 is traveling at a (x, y) velocity of [ 7.9878907 -5.10693  ] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00894913 -0.01661157] m/s.The unknown object with ID 53 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 127 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 110 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 108 is traveling at a (x, y) velocity of [0.00615978 0.01811391] m/s.The unknown object with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.4, -5.4) m/s. Its current heading (yaw) is -0.57 radians with an angular velocity of -0.57 rad/s.

The most relevant actors are: A vehicle with ID 55 is 6.6 meters away at (-0.4, -6.6). A vehicle with ID 56 is 11.1 meters away at (4.7, -10.0). A vehicle with ID 71 is 12.9 meters away at (3.3, 12.5). A vehicle with ID 14 is 13.4 meters away at (-11.0, 7.6). A vehicle with ID 101 is 16.1 meters away at (9.4, -13.0). A unknown object with ID 65 is 16.7 meters away at (2.9, 16.4). A vehicle with ID 89 is 17.8 meters away at (17.6, 2.8). A unknown object with ID 95 is 17.8 meters away at (6.0, 16.8). A unknown object with ID 77 is 21.0 meters away at (20.2, -5.7). A vehicle with ID 52 is 21.7 meters away at (14.1, -16.5).

The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-9.365714   6.1536546] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 8.133025  -5.4193826] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [-9.063564  5.975483] m/s.The unknown object with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (8.0, -5.3) 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 vehicle with ID 52 is 6.1 meters away at (-2.3, -5.7). A unknown object with ID 77 is 6.3 meters away at (3.8, 5.0). A vehicle with ID 101 is 7.2 meters away at (-6.9, -2.2). A vehicle with ID 51 is 9.9 meters away at (3.1, -9.4). A vehicle with ID 56 is 11.6 meters away at (-11.6, 0.7). A vehicle with ID 14 is 13.3 meters away at (-11.1, 7.4). A vehicle with ID 38 is 14.9 meters away at (8.0, -12.5). A vehicle with ID 103 is 15.6 meters away at (9.1, 12.6). A vehicle with ID 104 is 17.3 meters away at (14.5, 9.3). A vehicle with ID 55 is 17.3 meters away at (-16.8, 4.3).

The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 7.8962893 -5.1828675] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.0, -4.8) 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 vehicle with ID 38 is 7.3 meters away at (-6.8, -2.6). A vehicle with ID 57 is 11.3 meters away at (10.1, 5.1). A vehicle with ID 51 is 11.8 meters away at (-11.8, 0.6). A vehicle with ID 14 is 13.7 meters away at (-11.4, 7.7). A vehicle with ID 102 is 16.4 meters away at (4.8, 15.7). A vehicle with ID 52 is 17.7 meters away at (-17.2, 4.3). A unknown object with ID 77 is 18.6 meters away at (-11.1, 14.9). A vehicle with ID 104 is 19.1 meters away at (-0.3, 19.1). A vehicle with ID 101 is 23.1 meters away at (-21.8, 7.8). A vehicle with ID 103 is 23.2 meters away at (-5.7, 22.5).

The vehicle with ID 38 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 [-8.7009735  5.7341566] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [ 6.9319425 -4.600562 ] m/s.The vehicle with ID 102 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 unknown object with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 103 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -1.7) m/s. Its current heading (yaw) is -1.91 radians with an angular velocity of -1.91 rad/s.

The most relevant actors are: A vehicle with ID 80 is 8.0 meters away at (7.6, 2.6). A vehicle with ID 82 is 9.4 meters away at (3.3, 8.8). A vehicle with ID 83 is 12.9 meters away at (9.6, 8.5). A vehicle with ID 88 is 13.2 meters away at (-12.8, -2.9). A vehicle with ID 86 is 17.4 meters away at (10.9, -13.5). A vehicle with ID 84 is 18.1 meters away at (11.4, 14.0). A vehicle with ID 87 is 19.0 meters away at (-19.0, -0.7). A vehicle with ID 85 is 19.3 meters away at (4.1, 18.9). A pedestrian with ID 37 is 22.7 meters away at (0.7, -22.7). A vehicle with ID 79 is 24.4 meters away at (12.4, -21.0).

The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-0.13317393 -0.33392864] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-0.00828244  0.02248868] m/s.The vehicle with ID 79 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 (0.4, -4.2) m/s. Its current heading (yaw) is -1.47 radians with an angular velocity of -1.47 rad/s.

The most relevant actors are: A vehicle with ID 80 is 12.1 meters away at (8.6, 8.5). A vehicle with ID 88 is 12.2 meters away at (-11.8, 3.0). A vehicle with ID 82 is 12.2 meters away at (3.2, 11.8). A vehicle with ID 86 is 14.1 meters away at (11.8, -7.6). A pedestrian with ID 43 is 17.8 meters away at (9.9, 14.7). A vehicle with ID 83 is 17.9 meters away at (10.7, 14.4). A vehicle with ID 87 is 18.9 meters away at (-18.1, 5.4). A vehicle with ID 79 is 20.1 meters away at (13.3, -15.1). A unknown object with ID 60 is 22.7 meters away at (21.7, -6.7). A vehicle with ID 84 is 23.5 meters away at (12.4, 20.0).

The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.0350218 -2.8635547] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 43 is traveling at a (x, y) velocity of [-0.1218923  -0.00290434] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.2, -2.9) m/s. Its current heading (yaw) is -0.61 radians with an angular velocity of -0.61 rad/s.

The most relevant actors are: A vehicle with ID 86 is 6.0 meters away at (5.9, 1.0). A vehicle with ID 79 is 11.3 meters away at (8.9, -7.0). A vehicle with ID 82 is 15.0 meters away at (-3.1, 14.7). A vehicle with ID 78 is 16.5 meters away at (14.0, -8.7). A vehicle with ID 81 is 16.9 meters away at (16.5, -3.7). A vehicle with ID 80 is 17.0 meters away at (4.1, 16.5). A unknown object with ID 60 is 17.2 meters away at (17.1, 1.4). A vehicle with ID 88 is 19.7 meters away at (-16.4, 11.0). A vehicle with ID 95 is 21.0 meters away at (-15.7, -14.0). A vehicle with ID 77 is 21.5 meters away at (18.9, -10.4).

The vehicle with ID 86 is traveling at a (x, y) velocity of [-2.1734593   0.76064026] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-0.5177472 -1.5146147] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-4.028571   1.5156528] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -2.0) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 79 is 2.8 meters away at (-1.1, -2.5). A vehicle with ID 81 is 3.1 meters away at (0.6, 3.0). A vehicle with ID 78 is 5.8 meters away at (4.0, -4.2). A unknown object with ID 60 is 9.1 meters away at (7.1, 5.8). A vehicle with ID 77 is 10.6 meters away at (8.8, -5.9). A unknown object with ID 22 is 14.0 meters away at (9.0, -10.8). A vehicle with ID 31 is 14.4 meters away at (14.3, 1.5). A vehicle with ID 86 is 15.0 meters away at (-12.6, 8.1). A vehicle with ID 76 is 16.6 meters away at (14.6, -7.9). A vehicle with ID 80 is 21.8 meters away at (-6.0, 21.0).

The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [-2.3036487   0.88061893] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 86 is traveling at a (x, y) velocity of [-5.8780293  1.6968368] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -1.3) 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 pedestrian with ID 35 is 9.3 meters away at (-9.2, 1.7). A vehicle with ID 34 is 13.6 meters away at (5.6, 12.4). A vehicle with ID 32 is 13.6 meters away at (-12.4, -5.7). A vehicle with ID 5 is 16.6 meters away at (-3.4, 16.2). A vehicle with ID 36 is 19.5 meters away at (19.0, 4.7). A vehicle with ID 31 is 23.1 meters away at (-12.5, 19.4). A pedestrian with ID 38 is 24.5 meters away at (6.0, 23.8). A pedestrian with ID 40 is 25.9 meters away at (8.5, 24.4). A pedestrian with ID 41 is 27.2 meters away at (-1.2, 27.2). A vehicle with ID 39 is 27.4 meters away at (-24.0, 13.3).

The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.1880563  0.8340987] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-0.48473004  0.45882365] m/s.The vehicle with ID 32 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 [ 1.5167273 -2.2954314] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.3445137   0.63077515] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.9807585 -0.5232152] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [ 1.4914571  -0.31529936] m/s.The pedestrian with ID 40 is traveling at a (x, y) velocity of [ 1.5710306 -0.7351946] m/s.The pedestrian with ID 41 is traveling at a (x, y) velocity of [-1.3278118   0.65568274] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [-4.7276487  6.453168 ] 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, -3.6) 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 32 is 6.3 meters away at (-6.2, -1.1). A pedestrian with ID 35 is 9.5 meters away at (-5.3, 7.9). A pedestrian with ID 15 is 12.4 meters away at (12.4, -0.7). A vehicle with ID 5 is 14.4 meters away at (4.7, 13.6). A vehicle with ID 34 is 21.1 meters away at (10.5, 18.2). A vehicle with ID 31 is 21.9 meters away at (-3.1, 21.7). A vehicle with ID 36 is 24.4 meters away at (21.8, 11.0). A vehicle with ID 50 is 25.6 meters away at (13.9, 21.5). A vehicle with ID 44 is 26.2 meters away at (-24.7, 8.7). A unknown object with ID 16 is 29.9 meters away at (-24.7, 17.0).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2071141  0.6686634] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-2.8922622  1.2803092] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-0.35968414 -4.924393  ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [-1.2210076  1.3241698] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 2.2884398 -2.3786294] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-1.8281505  0.8583773] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [12.755984 -5.838909] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.6, -5.7) m/s. Its current heading (yaw) is -2.00 radians with an angular velocity of -2.00 rad/s.

The most relevant actors are: A vehicle with ID 32 is 8.2 meters away at (-0.9, 8.2). A unknown object with ID 8 is 12.4 meters away at (-11.6, 4.5). A unknown object with ID 7 is 12.7 meters away at (-12.1, 3.9). A unknown object with ID 9 is 13.2 meters away at (-12.2, 4.9). A vehicle with ID 5 is 13.6 meters away at (6.6, 11.8). A pedestrian with ID 15 is 16.9 meters away at (12.7, 11.1). A pedestrian with ID 35 is 18.8 meters away at (-2.3, 18.7). A vehicle with ID 31 is 25.0 meters away at (5.3, 24.4). A vehicle with ID 36 is 32.1 meters away at (23.1, 22.2). A unknown object with ID 16 is 32.7 meters away at (-19.4, 26.4).

The vehicle with ID 32 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 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-2.635635 -6.337807] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-2.1734598  1.0669475] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.2854985   0.58451366] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [ 0.41675252 -3.1557817 ] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [-2.485633   1.0467517] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, -6.7) m/s. Its current heading (yaw) is -1.98 radians with an angular velocity of -1.98 rad/s.

The most relevant actors are: A vehicle with ID 12 is 9.2 meters away at (-9.1, -1.2). A vehicle with ID 5 is 12.4 meters away at (6.3, 10.7). A unknown object with ID 7 is 17.7 meters away at (-6.8, 16.4). A unknown object with ID 8 is 18.1 meters away at (-6.2, 17.0). A unknown object with ID 9 is 18.7 meters away at (-6.9, 17.4). A vehicle with ID 32 is 21.1 meters away at (4.4, 20.6). A pedestrian with ID 15 is 29.1 meters away at (13.4, 25.8). A pedestrian with ID 35 is 32.1 meters away at (0.4, 32.1). A vehicle with ID 31 is 34.9 meters away at (10.9, 33.1). A vehicle with ID 33 is 42.2 meters away at (-26.9, -32.6).

The vehicle with ID 12 is traveling at a (x, y) velocity of [2.819845 8.94243 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-3.1340532 -7.054826 ] 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 8 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 vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [-2.8164215  0.7403037] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-1.378155    0.30293402] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [-0.05525406 -0.76561916] m/s.The vehicle with ID 33 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 (-0.3, 8.1) m/s. Its current heading (yaw) is 1.61 radians with an angular velocity of 1.61 rad/s.

The most relevant actors are: A vehicle with ID 20 is 40.2 meters away at (-1.1, 40.2). A vehicle with ID 6 is 50.1 meters away at (1.1, 50.1). A vehicle with ID 21 is 70.7 meters away at (-66.4, -24.0).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0.41148585 2.9120762 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 8.9) 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 vehicle with ID 20 is 23.2 meters away at (-1.2, 23.2). A vehicle with ID 6 is 33.1 meters away at (0.9, 33.1). A unknown object with ID 12 is 76.0 meters away at (4.7, 75.9). A unknown object with ID 7 is 76.3 meters away at (5.7, 76.1).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 12 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, 8.5) m/s. Its current heading (yaw) is 1.42 radians with an angular velocity of 1.42 rad/s.

The most relevant actors are: A vehicle with ID 20 is 6.5 meters away at (-3.0, 5.8). A vehicle with ID 6 is 15.8 meters away at (-1.0, 15.7). A unknown object with ID 18 is 66.7 meters away at (12.7, 65.5).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 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, 7.1) m/s. Its current heading (yaw) is 1.38 radians with an angular velocity of 1.38 rad/s.

The most relevant actors are: A vehicle with ID 6 is 3.7 meters away at (-3.7, 0.2). A vehicle with ID 20 is 11.2 meters away at (-5.7, -9.6). A unknown object with ID 16 is 37.6 meters away at (17.1, 33.5). A unknown object with ID 13 is 57.8 meters away at (24.5, 52.4).

The vehicle with ID 6 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.7) m/s. Its current heading (yaw) is 2.74 radians with an angular velocity of 2.74 rad/s.

The most relevant actors are: A vehicle with ID 47 is 10.0 meters away at (-8.9, 4.6). A vehicle with ID 26 is 12.2 meters away at (-5.1, 11.1). A vehicle with ID 29 is 13.4 meters away at (-9.6, 9.3). A vehicle with ID 28 is 13.8 meters away at (-10.0, 9.5). A vehicle with ID 55 is 21.0 meters away at (1.3, 20.9). A pedestrian with ID 31 is 23.3 meters away at (-13.4, 19.0). A pedestrian with ID 37 is 23.8 meters away at (-12.8, 20.1). A cyclist with ID 34 is 24.1 meters away at (-22.8, 7.7). A pedestrian with ID 22 is 24.1 meters away at (-12.4, 20.6). A pedestrian with ID 32 is 24.9 meters away at (-14.3, 20.4).

The vehicle with ID 47 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 [ 7.125606  -3.0624123] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [ 7.193504  -3.2148044] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 7.015477  -2.9781585] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 0.21184541 -3.6657896 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.3043249  -0.64244264] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.092272    0.70207524] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [ 2.6649013 -4.838588 ] m/s.The pedestrian with ID 22 is traveling at a (x, y) velocity of [-1.1688864   0.74772686] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0542934  -0.74382067] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.0) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A vehicle with ID 47 is 8.4 meters away at (-7.5, 4.0). A cyclist with ID 41 is 8.4 meters away at (-4.0, 7.5). A vehicle with ID 28 is 8.9 meters away at (8.8, 1.3). A vehicle with ID 26 is 12.6 meters away at (12.0, 3.7). A vehicle with ID 55 is 16.1 meters away at (3.5, 15.7). A vehicle with ID 38 is 16.6 meters away at (-10.0, 13.2). A pedestrian with ID 31 is 19.7 meters away at (-9.3, 17.4). A pedestrian with ID 32 is 21.3 meters away at (-10.6, 18.5). A cyclist with ID 34 is 21.8 meters away at (-20.8, -6.6). A pedestrian with ID 30 is 24.6 meters away at (-14.0, 20.2).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [10.9409275 -4.382007 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 9.457155  -4.0933337] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [ 7.9677024 -3.4967244] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [ 0.28588548 -1.4383141 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 5.7603736 -2.5287504] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.2519525 -0.5242475] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.0922809 -0.5540009] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-1.9556863 -7.665841 ] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.9571483 -0.5532145] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A vehicle with ID 38 is 8.3 meters away at (3.3, 7.7). A vehicle with ID 47 is 8.4 meters away at (-7.4, 4.0). A vehicle with ID 55 is 13.9 meters away at (4.3, 13.2). A pedestrian with ID 31 is 17.5 meters away at (-6.5, 16.3). A cyclist with ID 41 is 17.7 meters away at (17.6, -1.4). A pedestrian with ID 32 is 19.2 meters away at (-8.1, 17.4). A pedestrian with ID 30 is 23.1 meters away at (-12.2, 19.5). A vehicle with ID 13 is 26.6 meters away at (-24.1, 11.2). A pedestrian with ID 37 is 27.2 meters away at (-16.1, 21.9). A vehicle with ID 36 is 27.5 meters away at (-25.7, -9.6).

The vehicle with ID 38 is traveling at a (x, y) velocity of [ 7.264365  -2.9099727] m/s.The vehicle with ID 47 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 [ 0.44304165 -1.2460625 ] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.398356   -0.47942698] m/s.The cyclist with ID 41 is traveling at a (x, y) velocity of [10.077206  -4.2284927] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.2034364  -0.49416742] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.8664682  -0.42008612] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 37 is traveling at a (x, y) velocity of [-1.2917308   0.40822312] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A vehicle with ID 55 is 11.1 meters away at (6.2, 9.2). A vehicle with ID 47 is 11.2 meters away at (-9.7, 5.6). A vehicle with ID 50 is 11.7 meters away at (6.7, -9.6). A pedestrian with ID 31 is 15.7 meters away at (-3.7, 15.3). A pedestrian with ID 32 is 17.4 meters away at (-5.8, 16.4). A vehicle with ID 38 is 18.3 meters away at (18.2, 1.2). A pedestrian with ID 30 is 21.5 meters away at (-10.4, 18.8). A vehicle with ID 17 is 23.3 meters away at (3.0, 23.1). A vehicle with ID 13 is 26.4 meters away at (-24.0, 11.1). A vehicle with ID 36 is 27.4 meters away at (-25.7, -9.7).

The vehicle with ID 55 is traveling at a (x, y) velocity of [ 2.2376223 -3.2261431] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [-2.2255368  2.1199203] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [-11.820816   4.994632] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [ 1.591847   -0.38872322] m/s.The pedestrian with ID 32 is traveling at a (x, y) velocity of [ 1.3489275  -0.30709127] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [ 7.650341  -3.2821214] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.91595864 -0.41412592] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [-0.00230619 -0.6130792 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 1.1) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A pedestrian with ID 85 is 6.5 meters away at (-4.9, 4.4). A vehicle with ID 83 is 9.6 meters away at (-9.5, -1.4). A vehicle with ID 80 is 9.8 meters away at (-3.1, -9.3). A vehicle with ID 82 is 14.4 meters away at (-13.2, -5.6). A vehicle with ID 84 is 15.6 meters away at (-7.0, -14.0). A pedestrian with ID 54 is 15.8 meters away at (15.1, -4.7). A vehicle with ID 89 is 19.9 meters away at (-17.1, -10.0). A vehicle with ID 91 is 20.1 meters away at (-1.2, 20.1). A pedestrian with ID 87 is 20.7 meters away at (-20.1, -5.1). A vehicle with ID 90 is 22.0 meters away at (-11.3, -18.8).

The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.54368395 -1.1396842 ] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 54 is traveling at a (x, y) velocity of [-0.00083556 -0.01059504] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 87 is traveling at a (x, y) velocity of [-1.0852019 -1.2528529] m/s.The vehicle with ID 90 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.0, 3.6) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A pedestrian with ID 85 is 9.3 meters away at (-9.2, -0.9). A vehicle with ID 83 is 14.8 meters away at (-13.5, -6.2). A vehicle with ID 80 is 15.9 meters away at (-7.2, -14.2). A vehicle with ID 91 is 16.1 meters away at (-5.2, 15.2). A vehicle with ID 86 is 19.4 meters away at (-12.3, -14.9). A vehicle with ID 94 is 20.1 meters away at (-10.7, 17.0). A vehicle with ID 82 is 20.2 meters away at (-17.3, -10.5). A vehicle with ID 84 is 21.9 meters away at (-11.1, -18.9). A vehicle with ID 81 is 21.9 meters away at (21.5, -4.3). A vehicle with ID 97 is 24.1 meters away at (-15.4, 18.6).

The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.01308728  0.02534396] m/s.The vehicle with ID 83 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [2.6747286 3.0884552] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 97 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.5, 5.3) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A cyclist with ID 117 is 13.3 meters away at (5.3, 12.2). A vehicle with ID 91 is 14.3 meters away at (-12.9, 6.2). A unknown object with ID 104 is 14.7 meters away at (12.4, 7.9). A unknown object with ID 38 is 16.0 meters away at (12.1, 10.5). A vehicle with ID 81 is 19.2 meters away at (13.8, -13.3). A vehicle with ID 94 is 20.1 meters away at (-18.4, 7.9). A pedestrian with ID 85 is 20.4 meters away at (-17.4, -10.7). A vehicle with ID 75 is 21.2 meters away at (8.1, 19.6). A cyclist with ID 20 is 23.0 meters away at (-22.9, 1.5). A vehicle with ID 86 is 23.6 meters away at (-15.0, -18.3).

The cyclist with ID 117 is traveling at a (x, y) velocity of [-3.9731352 -4.5843043] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 85 is traveling at a (x, y) velocity of [-0.31820804 -0.8697474 ] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 20 is traveling at a (x, y) velocity of [ 4.7900157 -2.1881866] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [2.1822546 2.4009488] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.4, 5.2) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A unknown object with ID 38 is 3.3 meters away at (3.3, 0.1). A unknown object with ID 50 is 3.8 meters away at (3.4, -1.5). A unknown object with ID 104 is 4.4 meters away at (3.7, -2.4). A vehicle with ID 75 is 9.2 meters away at (-0.7, 9.2). A unknown object with ID 52 is 12.4 meters away at (9.8, 7.6). A cyclist with ID 117 is 13.5 meters away at (-11.2, -7.5). A vehicle with ID 62 is 14.2 meters away at (-13.9, 2.8). A vehicle with ID 74 is 14.5 meters away at (3.6, 14.0). A vehicle with ID 76 is 20.1 meters away at (7.4, 18.7). A unknown object with ID 72 is 20.7 meters away at (15.2, 14.0).

The unknown object with ID 38 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 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 117 is traveling at a (x, y) velocity of [-3.4534152 -4.548791 ] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 72 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-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 -0.72 radians with an angular velocity of -0.72 rad/s.

The most relevant actors are: A unknown object with ID 23 is 17.4 meters away at (-16.4, 6.0). A pedestrian with ID 33 is 41.8 meters away at (35.9, 21.4). A cyclist with ID 24 is 52.2 meters away at (-10.7, 51.1). A unknown object with ID 29 is 58.6 meters away at (-44.7, 37.8). A unknown object with ID 31 is 59.9 meters away at (-44.0, 40.7). A unknown object with ID 32 is 62.9 meters away at (-44.9, 44.0). A vehicle with ID 39 is 66.9 meters away at (43.7, 50.7). A vehicle with ID 36 is 68.8 meters away at (-26.4, 63.6). A vehicle with ID 35 is 72.1 meters away at (-53.1, 48.8). A vehicle with ID 28 is 73.5 meters away at (73.2, -6.9).

The unknown object with ID 23 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 [-0.03532321 -0.0551368 ] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 4.5375724 -3.702978 ] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 36 is traveling at a (x, y) velocity of [ 1.9574313 -1.7184907] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 5.0320272 -3.015173 ] 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 -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A unknown object with ID 23 is 32.6 meters away at (-28.6, 15.8). A pedestrian with ID 33 is 39.3 meters away at (23.7, 31.3). A cyclist with ID 24 is 54.6 meters away at (-13.6, 52.9). A vehicle with ID 28 is 67.5 meters away at (67.5, -1.1). A unknown object with ID 29 is 74.3 meters away at (-56.8, 47.9). A unknown object with ID 31 is 75.7 meters away at (-56.2, 50.7). A vehicle with ID 13 is 76.0 meters away at (59.0, -47.9). A vehicle with ID 15 is 78.0 meters away at (70.4, -33.6). A vehicle with ID 36 is 78.5 meters away at (-35.1, 70.2).

The unknown object with ID 23 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 [-0.05790094 -0.06042111] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 4.7827287 -4.120295 ] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [ 1.4143894 -1.0403085] m/s.The unknown object with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [4.710476  5.7963333] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [5.83867  7.006371] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [ 1.3928949 -1.8162417] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.3, -5.3) m/s. Its current heading (yaw) is -0.70 radians with an angular velocity of -0.70 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 43.0 meters away at (11.0, 41.5). A unknown object with ID 23 is 48.8 meters away at (-41.2, 26.1). A unknown object with ID 21 is 53.1 meters away at (50.5, -16.3). A vehicle with ID 28 is 56.7 meters away at (56.0, 8.5). A cyclist with ID 24 is 57.4 meters away at (-16.4, 54.9). A vehicle with ID 12 is 59.2 meters away at (45.9, -37.3). A vehicle with ID 13 is 61.7 meters away at (56.1, -25.6). A vehicle with ID 15 is 71.0 meters away at (70.5, -8.2).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.02978395 -0.13527341] 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 21 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 cyclist with ID 24 is traveling at a (x, y) velocity of [ 5.0993323 -3.8983495] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [5.4315386 6.619325 ] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [5.047671 6.217569] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [7.0738745 7.882732 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, -5.1) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A unknown object with ID 16 is 38.2 meters away at (34.5, 16.5). A vehicle with ID 9 is 43.5 meters away at (32.1, -29.4). A vehicle with ID 12 is 46.8 meters away at (44.9, -13.4). A vehicle with ID 28 is 47.4 meters away at (43.6, 18.5). A pedestrian with ID 33 is 51.8 meters away at (-1.4, 51.8). A vehicle with ID 13 is 55.1 meters away at (55.0, -1.6). A cyclist with ID 24 is 60.7 meters away at (-17.5, 58.2). A vehicle with ID 4 is 60.9 meters away at (60.0, 10.3). A vehicle with ID 15 is 76.6 meters away at (74.2, 18.8).

The unknown object with ID 16 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 [5.6789703 6.759994 ] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [5.6669827 6.8311324] m/s.The vehicle with ID 28 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 [-0.01366074 -0.03629936] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [6.0010114 7.2951074] m/s.The cyclist with ID 24 is traveling at a (x, y) velocity of [ 5.9204865 -2.8633893] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.085103  -8.1456175] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.423747 8.368413] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.7, 5.3) m/s. Its current heading (yaw) is 0.55 radians with an angular velocity of 0.55 rad/s.

The most relevant actors are: A pedestrian with ID 104 is 10.4 meters away at (-9.4, 4.5). A pedestrian with ID 110 is 10.7 meters away at (8.8, -6.1). A pedestrian with ID 105 is 11.1 meters away at (-9.8, 5.1). A pedestrian with ID 103 is 14.7 meters away at (-14.3, 3.2). A pedestrian with ID 52 is 17.8 meters away at (8.6, 15.5). A pedestrian with ID 59 is 21.6 meters away at (-11.4, -18.4). A vehicle with ID 102 is 22.0 meters away at (-21.0, -6.5). A vehicle with ID 14 is 22.1 meters away at (-18.9, -11.5). A pedestrian with ID 115 is 24.2 meters away at (24.1, -2.0). A pedestrian with ID 76 is 25.5 meters away at (-15.0, -20.6).

The pedestrian with ID 104 is traveling at a (x, y) velocity of [1.4216038 0.6853334] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.3312547 -0.4844428] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.4302765 0.6729223] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.9805029 1.0042208] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.5979606  0.88567907] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.07082675 0.03163876] m/s.The vehicle with ID 102 is traveling at a (x, y) velocity of [1.331577  4.5009165] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [6.850872 4.272098] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [ 0.33884764 -0.3750691 ] m/s.The pedestrian with ID 76 is traveling at a (x, y) velocity of [0.04024116 0.00750128] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (9.1, 5.7) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A pedestrian with ID 52 is 8.9 meters away at (-6.1, 6.4). A vehicle with ID 100 is 12.2 meters away at (11.2, -4.8). A pedestrian with ID 115 is 15.6 meters away at (6.9, -14.0). A vehicle with ID 101 is 18.3 meters away at (18.3, -1.0). A pedestrian with ID 110 is 21.8 meters away at (-11.7, -18.5). A vehicle with ID 14 is 24.4 meters away at (-20.9, -12.7). A pedestrian with ID 104 is 25.3 meters away at (-24.7, -5.3). A pedestrian with ID 105 is 25.5 meters away at (-25.1, -4.6). A pedestrian with ID 103 is 31.0 meters away at (-30.5, -5.9). A vehicle with ID 106 is 32.9 meters away at (-26.3, -19.7).

The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.4873794 1.03123  ] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [ 0.03995406 -0.4225478 ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-1.4010763 -0.80647  ] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.475757 5.298147] m/s.The pedestrian with ID 104 is traveling at a (x, y) velocity of [1.1372105 0.6460923] m/s.The pedestrian with ID 105 is traveling at a (x, y) velocity of [1.0956802  0.62435657] m/s.The pedestrian with ID 103 is traveling at a (x, y) velocity of [0.756126   0.97408605] m/s.The vehicle with ID 106 is traveling at a (x, y) velocity of [5.9056044 3.9139278] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.9, 5.6) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A vehicle with ID 101 is 12.2 meters away at (0.2, -12.2). A vehicle with ID 123 is 14.2 meters away at (13.9, 3.0). A pedestrian with ID 58 is 15.8 meters away at (15.7, -1.8). A pedestrian with ID 47 is 16.4 meters away at (16.2, -2.5). A vehicle with ID 100 is 17.4 meters away at (-6.9, -16.0). A pedestrian with ID 52 is 22.0 meters away at (-21.8, -2.9). A vehicle with ID 14 is 25.8 meters away at (-22.0, -13.5). A vehicle with ID 31 is 27.7 meters away at (27.7, -1.9). A pedestrian with ID 115 is 27.8 meters away at (-11.1, -25.5). A pedestrian with ID 11 is 30.4 meters away at (29.8, 5.7).

The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.90234256 -0.60433364] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.930296  -0.5854587] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.2844193 1.1320887] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [8.306863  5.1384573] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 115 is traveling at a (x, y) velocity of [-0.01562929  0.01622276] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.707097  0.7424505] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (8.8, 4.2) m/s. Its current heading (yaw) is 0.44 radians with an angular velocity of 0.44 rad/s.

The most relevant actors are: A vehicle with ID 123 is 7.6 meters away at (-3.4, -6.8). A pedestrian with ID 58 is 13.6 meters away at (-3.4, -13.2). A pedestrian with ID 11 is 13.8 meters away at (13.6, -2.8). A pedestrian with ID 47 is 14.1 meters away at (-2.9, -13.8). A vehicle with ID 31 is 15.6 meters away at (10.2, -11.7). A pedestrian with ID 29 is 18.4 meters away at (18.3, -1.6). A vehicle with ID 14 is 27.3 meters away at (-23.6, -13.7). A vehicle with ID 101 is 28.0 meters away at (-17.2, -22.0). A vehicle with ID 100 is 35.5 meters away at (-24.3, -25.9). A pedestrian with ID 52 is 38.2 meters away at (-36.6, -11.0).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-1.0186963 -0.8514703] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [0.719112   0.55068934] m/s.The pedestrian with ID 47 is traveling at a (x, y) velocity of [-0.9670475 -0.8445481] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-1.3514334 -1.1799699] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [7.6693163 4.7134   ] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 52 is traveling at a (x, y) velocity of [1.340673  0.8506507] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.57 radians with an angular velocity of 0.57 rad/s.

The most relevant actors are: A vehicle with ID 2 is 4.0 meters away at (0.5, 3.9). A pedestrian with ID 62 is 5.3 meters away at (4.9, -2.0). A pedestrian with ID 60 is 6.9 meters away at (-0.9, -6.9). A vehicle with ID 4 is 7.0 meters away at (-0.3, 7.0). A pedestrian with ID 63 is 7.2 meters away at (-0.2, -7.2). A vehicle with ID 6 is 7.6 meters away at (-6.9, 3.0). A pedestrian with ID 59 is 8.1 meters away at (8.1, -1.0). A pedestrian with ID 64 is 8.2 meters away at (7.5, -3.2). A pedestrian with ID 49 is 8.6 meters away at (-0.8, -8.5). A pedestrian with ID 58 is 8.9 meters away at (8.8, -1.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [3.0118656 1.753124 ] m/s.The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.5452054 -0.647932 ] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.54902214 0.3086711 ] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [2.1731994 1.3573171] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.62628394 0.4147555 ] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [0.89966995 0.5378942 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.01163855 -0.00323239] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [-0.00096091 -0.02407255] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.04723271 -0.02734653] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [ 0.01371042 -0.0184789 ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.7, 1.7) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A pedestrian with ID 62 is 5.0 meters away at (-0.6, -4.9). A pedestrian with ID 59 is 5.9 meters away at (5.3, -2.7). A vehicle with ID 6 is 6.2 meters away at (-4.0, 4.8). A pedestrian with ID 58 is 6.7 meters away at (5.8, -3.3). A pedestrian with ID 65 is 7.7 meters away at (6.7, -3.9). A pedestrian with ID 60 is 8.4 meters away at (-2.4, -8.0). A pedestrian with ID 63 is 8.4 meters away at (-1.6, -8.2). A pedestrian with ID 67 is 10.3 meters away at (10.2, -1.5). A pedestrian with ID 49 is 10.9 meters away at (-3.5, -10.3). A vehicle with ID 2 is 11.4 meters away at (8.0, 8.1).

The pedestrian with ID 62 is traveling at a (x, y) velocity of [-1.3518833 -0.7953813] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.02183533 -0.00519247] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [4.5878963 2.7934875] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.01980654 -0.00202407] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01045739  0.00641754] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.644871   0.48589242] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.6100876 0.4573068] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.05017149 -0.00398219] m/s.The pedestrian with ID 49 is traveling at a (x, y) velocity of [-0.19966546 -0.1484886 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [6.6124787 3.91657  ] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.5, 3.5) m/s. Its current heading (yaw) is 0.56 radians with an angular velocity of 0.56 rad/s.

The most relevant actors are: A pedestrian with ID 67 is 7.0 meters away at (1.9, -6.8). A vehicle with ID 6 is 7.1 meters away at (-0.1, 7.1). A pedestrian with ID 59 is 8.4 meters away at (-3.1, -7.8). A pedestrian with ID 58 is 8.8 meters away at (-2.5, -8.4). A pedestrian with ID 65 is 9.2 meters away at (-1.7, -9.0). A pedestrian with ID 46 is 10.8 meters away at (-3.6, -10.2). A pedestrian with ID 77 is 14.8 meters away at (14.7, 1.5). A pedestrian with ID 69 is 15.3 meters away at (15.2, 1.0). A pedestrian with ID 63 is 15.3 meters away at (-8.8, -12.6). A pedestrian with ID 60 is 15.6 meters away at (-9.5, -12.4).

The pedestrian with ID 67 is traveling at a (x, y) velocity of [ 0.03034173 -0.00410324] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [7.4004626 4.6108108] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.06045438 0.21127799] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [-0.00085094  0.10958119] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [-0.01045251  0.01513317] m/s.The pedestrian with ID 46 is traveling at a (x, y) velocity of [-0.00788529 -0.00584435] m/s.The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.3044249 -0.609345 ] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.2227687 -0.5968434] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.6884043 0.5897149] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [0.74590266 0.53715277] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (7.1, 4.3) m/s. Its current heading (yaw) is 0.55 radians with an angular velocity of 0.55 rad/s.

The most relevant actors are: A pedestrian with ID 77 is 7.1 meters away at (-0.3, -7.1). A pedestrian with ID 69 is 7.8 meters away at (0.2, -7.8). A pedestrian with ID 72 is 9.4 meters away at (7.6, -5.6). A vehicle with ID 6 is 9.9 meters away at (3.2, 9.3). A pedestrian with ID 28 is 14.1 meters away at (-7.1, -12.2). A pedestrian with ID 68 is 14.2 meters away at (14.2, 0.7). A pedestrian with ID 70 is 14.5 meters away at (14.5, 0.1). A pedestrian with ID 67 is 17.9 meters away at (-10.6, -14.5). A pedestrian with ID 65 is 21.9 meters away at (-14.2, -16.7). A pedestrian with ID 58 is 22.1 meters away at (-15.0, -16.1).

The pedestrian with ID 77 is traveling at a (x, y) velocity of [-1.0986687  -0.56947696] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-1.1500684 -0.5812377] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [1.1750374  0.71349573] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [7.808026  4.9478774] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [-0.04515257  0.04565809] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [-1.1603558 -0.5159881] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-1.1572497 -0.5426529] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [0.01760523 0.01745882] m/s.The pedestrian with ID 65 is traveling at a (x, y) velocity of [0.00167235 0.03370057] m/s.The pedestrian with ID 58 is traveling at a (x, y) velocity of [0.01794178 0.02697597] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.5, -1.5) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 50 is 9.8 meters away at (0.8, 9.8). A vehicle with ID 53 is 10.8 meters away at (-0.3, -10.8). A vehicle with ID 52 is 15.2 meters away at (2.6, 15.0). A vehicle with ID 54 is 19.4 meters away at (11.6, 15.5). A unknown object with ID 56 is 19.6 meters away at (-19.6, -0.8). A vehicle with ID 55 is 21.3 meters away at (4.6, 20.8). A vehicle with ID 62 is 23.4 meters away at (16.8, -16.3). A unknown object with ID 41 is 23.9 meters away at (-23.9, 0.7). A vehicle with ID 57 is 25.4 meters away at (13.9, 21.3). A vehicle with ID 49 is 26.2 meters away at (14.5, -21.8).

The vehicle with ID 50 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 [-5.274065  1.932809] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object 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.The vehicle with ID 62 is traveling at a (x, y) velocity of [-4.15562    1.3669171] m/s.The unknown object with ID 41 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 49 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, -3.8) m/s. Its current heading (yaw) is -1.63 radians with an angular velocity of -1.63 rad/s.

The most relevant actors are: A vehicle with ID 53 is 12.2 meters away at (-12.1, -1.1). A vehicle with ID 50 is 15.0 meters away at (1.9, 14.9). A vehicle with ID 62 is 15.4 meters away at (12.2, -9.3). A unknown object with ID 56 is 19.0 meters away at (-18.5, 4.4). A vehicle with ID 52 is 20.5 meters away at (3.7, 20.2). A vehicle with ID 58 is 22.1 meters away at (-15.2, -16.0). A vehicle with ID 49 is 22.8 meters away at (15.5, -16.7). A unknown object with ID 41 is 23.6 meters away at (-22.8, 5.9). A vehicle with ID 54 is 24.3 meters away at (12.8, 20.6). A vehicle with ID 55 is 26.5 meters away at (5.7, 25.9).

The vehicle with ID 53 is traveling at a (x, y) velocity of [-7.424224   2.4497075] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.5420109  0.4377739] m/s.The unknown object with ID 56 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, -3.7) m/s. Its current heading (yaw) is -0.82 radians with an angular velocity of -0.82 rad/s.

The most relevant actors are: A vehicle with ID 62 is 8.3 meters away at (8.3, -0.7). A vehicle with ID 49 is 15.2 meters away at (12.7, -8.4). A vehicle with ID 58 is 19.5 meters away at (-17.9, -7.7). A vehicle with ID 48 is 20.4 meters away at (17.7, -10.1). A vehicle with ID 65 is 22.1 meters away at (-7.0, -20.9). A vehicle with ID 50 is 23.2 meters away at (-0.9, 23.2). A vehicle with ID 63 is 24.2 meters away at (-20.1, -13.6). A unknown object with ID 56 is 24.8 meters away at (-21.3, 12.7). A vehicle with ID 66 is 25.7 meters away at (-15.8, -20.2). A vehicle with ID 47 is 26.2 meters away at (23.2, -12.1).

The vehicle with ID 62 is traveling at a (x, y) velocity of [-0.31840804  0.0947685 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 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 (5.8, -1.6) m/s. Its current heading (yaw) is -0.27 radians with an angular velocity of -0.27 rad/s.

The most relevant actors are: A vehicle with ID 49 is 4.8 meters away at (3.0, -3.8). A vehicle with ID 62 is 5.9 meters away at (-3.7, 4.5). A vehicle with ID 48 is 9.6 meters away at (7.8, -5.6). A vehicle with ID 47 is 15.4 meters away at (13.5, -7.4). A unknown object with ID 38 is 21.1 meters away at (21.1, 0.6). A vehicle with ID 65 is 23.4 meters away at (-16.6, -16.5). A vehicle with ID 9 is 27.9 meters away at (27.7, -2.8). A vehicle with ID 58 is 27.9 meters away at (-27.7, -3.4). A vehicle with ID 50 is 29.7 meters away at (-10.9, 27.6). A vehicle with ID 66 is 30.0 meters away at (-25.4, -15.9).

The vehicle with ID 49 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 [-2.3360538  0.7325138] m/s.The vehicle with ID 48 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 65 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 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 (-0.1, -0.3) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A vehicle with ID 44 is 4.1 meters away at (-1.9, 3.6). A vehicle with ID 47 is 5.3 meters away at (5.3, -0.1). A vehicle with ID 50 is 8.4 meters away at (6.9, 4.9). A vehicle with ID 48 is 8.5 meters away at (-0.7, 8.5). A vehicle with ID 51 is 13.8 meters away at (0.9, 13.8). A vehicle with ID 54 is 16.4 meters away at (9.7, 13.3). A unknown object with ID 31 is 18.3 meters away at (13.4, 12.4). A vehicle with ID 66 is 18.4 meters away at (-18.0, -3.6). A vehicle with ID 55 is 20.1 meters away at (2.7, 19.9). A vehicle with ID 26 is 24.2 meters away at (-24.1, -1.7).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 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 55 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, -0.0) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A vehicle with ID 44 is 4.3 meters away at (-1.9, 3.8). A vehicle with ID 47 is 5.4 meters away at (5.4, 0.1). A vehicle with ID 50 is 8.6 meters away at (6.9, 5.1). A vehicle with ID 48 is 8.7 meters away at (-0.6, 8.7). A vehicle with ID 51 is 13.9 meters away at (0.9, 13.9). A vehicle with ID 54 is 16.6 meters away at (9.8, 13.5). A vehicle with ID 66 is 18.3 meters away at (-18.0, -3.4). A unknown object with ID 31 is 18.4 meters away at (13.4, 12.6). A vehicle with ID 55 is 20.4 meters away at (2.8, 20.2). A vehicle with ID 26 is 24.1 meters away at (-24.0, -1.4).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 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 (-0.8, -2.6) 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 vehicle with ID 44 is 6.4 meters away at (-1.1, 6.3). A vehicle with ID 47 is 6.6 meters away at (6.1, 2.6). A vehicle with ID 50 is 10.8 meters away at (7.7, 7.6). A vehicle with ID 48 is 11.2 meters away at (0.2, 11.2). A vehicle with ID 51 is 16.5 meters away at (1.8, 16.4). A vehicle with ID 66 is 17.2 meters away at (-17.2, -0.8). A vehicle with ID 54 is 19.1 meters away at (10.6, 15.9). A vehicle with ID 55 is 23.0 meters away at (3.6, 22.7). A vehicle with ID 26 is 23.0 meters away at (-23.0, 1.1). A vehicle with ID 49 is 24.6 meters away at (14.2, -20.1).

The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle 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.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 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.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, -4.4) m/s. Its current heading (yaw) is -1.22 radians with an angular velocity of -1.22 rad/s.

The most relevant actors are: A vehicle with ID 47 is 11.5 meters away at (6.1, 9.7). A vehicle with ID 44 is 13.7 meters away at (-1.1, 13.6). A vehicle with ID 50 is 16.6 meters away at (7.8, 14.7). A vehicle with ID 48 is 18.5 meters away at (0.3, 18.5). A vehicle with ID 66 is 18.5 meters away at (-17.3, 6.6). A vehicle with ID 49 is 19.0 meters away at (13.8, -13.0). A vehicle with ID 65 is 20.8 meters away at (-11.8, -17.1). A vehicle with ID 67 is 20.9 meters away at (-16.6, -12.6). A vehicle with ID 8 is 23.5 meters away at (22.5, -6.8). A vehicle with ID 51 is 23.7 meters away at (1.9, 23.6).

The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 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 65 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

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 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.6, 4.1). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 19 is 23.5 meters away at (18.8, -14.2). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A vehicle with ID 21 is 26.7 meters away at (25.4, 8.1). A vehicle with ID 18 is 26.8 meters away at (2.5, 26.7). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 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 [-1.5280067  1.239327 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-4.6945977  4.085558 ] m/s.The unknown object 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 (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.7, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A cyclist with ID 10 is 15.6 meters away at (-15.6, 0.6). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 21 is 22.9 meters away at (17.5, 14.8). A vehicle with ID 19 is 23.6 meters away at (18.8, -14.1). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 10 is traveling at a (x, y) velocity of [ 1.7710987  -0.40355444] m/s.The vehicle with ID 27 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 [-5.740681   4.7526255] m/s.The vehicle with ID 19 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 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 (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.7, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.6, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.4, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 7 is 23.4 meters away at (16.7, -16.4). A vehicle with ID 19 is 23.6 meters away at (18.8, -14.2). A vehicle with ID 30 is 24.7 meters away at (-24.6, 2.2). A vehicle with ID 21 is 26.1 meters away at (4.4, 25.7). A vehicle with ID 52 is 26.6 meters away at (24.4, 10.6).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 21 is traveling at a (x, y) velocity of [-6.9670277  5.8948445] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-3.0267024  3.3834124] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 14 is 4.1 meters away at (-0.6, 4.0). A unknown object with ID 16 is 8.2 meters away at (-7.7, 3.0). A vehicle with ID 15 is 8.5 meters away at (-7.5, -3.9). A vehicle with ID 17 is 9.7 meters away at (-6.3, -7.4). A vehicle with ID 27 is 18.5 meters away at (-18.3, -2.7). A vehicle with ID 7 is 23.4 meters away at (16.7, -16.3). A vehicle with ID 19 is 23.5 meters away at (18.8, -14.1). A vehicle with ID 30 is 24.6 meters away at (-24.5, 2.2). A vehicle with ID 52 is 27.5 meters away at (20.1, 18.8). A unknown object with ID 22 is 28.3 meters away at (-23.7, -15.4).

The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 19 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 52 is traveling at a (x, y) velocity of [-0.633617   4.3609166] m/s.The unknown object 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 (0.3, -0.8) m/s. Its current heading (yaw) is -1.24 radians with an angular velocity of -1.24 rad/s.

The most relevant actors are: A vehicle with ID 48 is 14.3 meters away at (-3.2, -13.9). A vehicle with ID 49 is 20.6 meters away at (-4.7, -20.0). A vehicle with ID 1 is 26.5 meters away at (-25.9, -5.8). A vehicle with ID 33 is 28.5 meters away at (-26.5, 10.3). A vehicle with ID 46 is 31.5 meters away at (-27.0, -16.1). A vehicle with ID 9 is 33.0 meters away at (-29.9, -13.8). A vehicle with ID 47 is 34.7 meters away at (-19.3, -28.8). A vehicle with ID 50 is 37.1 meters away at (-29.1, -23.1). A vehicle with ID 52 is 37.7 meters away at (-32.1, -19.8). A vehicle with ID 41 is 39.6 meters away at (16.8, -35.8).

The vehicle with ID 48 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 1 is traveling at a (x, y) velocity of [0.2585756 0.4094412] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ 5.533169 14.93058 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.06746796 0.38819414] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ -2.827236 -14.238552] m/s.The vehicle with ID 50 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 41 is traveling at a (x, y) velocity of [-5.1057673  1.4534549] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.3, -2.1) m/s. Its current heading (yaw) is -1.01 radians with an angular velocity of -1.01 rad/s.

The most relevant actors are: A vehicle with ID 48 is 12.2 meters away at (-4.5, -11.3). A vehicle with ID 49 is 18.5 meters away at (-6.1, -17.5). A vehicle with ID 60 is 22.4 meters away at (-5.9, 21.6). A vehicle with ID 1 is 26.3 meters away at (-26.2, -2.3). A vehicle with ID 46 is 30.6 meters away at (-27.9, -12.5). A vehicle with ID 41 is 32.3 meters away at (6.0, -31.7). A vehicle with ID 9 is 33.0 meters away at (-31.1, -10.9). A cyclist with ID 35 is 35.6 meters away at (-31.3, -16.9). A vehicle with ID 50 is 36.5 meters away at (-30.4, -20.2). A vehicle with ID 52 is 37.4 meters away at (-33.4, -16.9).

The vehicle with ID 48 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 60 is traveling at a (x, y) velocity of [ -5.3430343 -13.687264 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0.6007117  0.76833993] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0.2380642 0.7767441] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.3123026  0.4433727] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [0.16764063 0.60797304] m/s.The cyclist with ID 35 is traveling at a (x, y) velocity of [1.024504  3.4092739] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.05094891 0.60190535] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0.04281409 1.0671791 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.5) m/s. Its current heading (yaw) is -0.71 radians with an angular velocity of -0.71 rad/s.

The most relevant actors are: A vehicle with ID 48 is 10.9 meters away at (-9.6, -5.2). A vehicle with ID 49 is 15.9 meters away at (-11.2, -11.2). A vehicle with ID 60 is 20.2 meters away at (-20.2, 0.5). A pedestrian with ID 26 is 23.6 meters away at (-18.2, -15.1). A vehicle with ID 41 is 28.1 meters away at (-8.2, -26.8). A vehicle with ID 18 is 28.6 meters away at (3.8, -28.3). A vehicle with ID 1 is 28.9 meters away at (-28.2, 6.5). A vehicle with ID 46 is 31.9 meters away at (-31.7, -3.5). A cyclist with ID 34 is 32.0 meters away at (17.8, -26.6). A vehicle with ID 9 is 35.4 meters away at (-35.3, -2.2).

The vehicle with ID 48 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 60 is traveling at a (x, y) velocity of [ -3.9494631 -13.713554 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.04668038  0.03705142] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-5.1668544 -2.1113389] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [-6.253971   1.3126924] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [3.2073762 1.7677333] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [1.1979561 1.8857502] m/s.The cyclist with ID 34 is traveling at a (x, y) velocity of [-10.617206    5.2718115] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [1.1133897 2.2535806] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.4, -3.7) 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 cyclist with ID 34 is 12.8 meters away at (-8.7, -9.4). A vehicle with ID 48 is 20.1 meters away at (-20.0, 1.9). A vehicle with ID 49 is 22.0 meters away at (-21.7, -4.1). A vehicle with ID 18 is 27.4 meters away at (-17.6, -21.0). A vehicle with ID 1 is 31.5 meters away at (-27.7, 15.0). A vehicle with ID 46 is 38.5 meters away at (-37.7, 7.5). A vehicle with ID 41 is 39.3 meters away at (-29.0, -26.5). A vehicle with ID 60 is 42.5 meters away at (-37.2, -20.7). A vehicle with ID 9 is 42.7 meters away at (-41.4, 10.7). A vehicle with ID 50 is 44.7 meters away at (-44.7, -1.8).

The cyclist with ID 34 is traveling at a (x, y) velocity of [-7.1723795  4.209515 ] m/s.The vehicle with ID 48 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 18 is traveling at a (x, y) velocity of [-4.827616   -0.95571744] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.8739676 -1.3719728] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [2.9012067 1.5414598] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [-4.2353063 -3.695155 ] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [ -2.2537727 -14.179308 ] m/s.The vehicle with ID 9 is traveling at a (x, y) velocity of [3.5272489 2.6346948] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0.8177935 2.3136296] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.2, 1.5) m/s. Its current heading (yaw) is 2.87 radians with an angular velocity of 2.87 rad/s.

The most relevant actors are: A pedestrian with ID 9 is 11.9 meters away at (5.4, -10.7). A vehicle with ID 1 is 17.1 meters away at (15.0, -8.2). A vehicle with ID 15 is 44.9 meters away at (42.0, -15.9). A unknown object with ID 8 is 74.4 meters away at (50.8, -54.3).

The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.3813628  -0.45239335] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-5.656478   3.0700881] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, -2.7) m/s. Its current heading (yaw) is -2.54 radians with an angular velocity of -2.54 rad/s.

The most relevant actors are: A vehicle with ID 1 is 14.4 meters away at (14.4, -1.2). A pedestrian with ID 9 is 19.7 meters away at (16.0, -11.5). A vehicle with ID 15 is 53.8 meters away at (51.7, -14.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.7490115  2.6355379] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.6576508  -0.96986264] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -3.9) m/s. Its current heading (yaw) is -2.05 radians with an angular velocity of -2.05 rad/s.

The most relevant actors are: A vehicle with ID 1 is 14.0 meters away at (10.6, 9.2). A pedestrian with ID 9 is 23.5 meters away at (22.7, -6.1). A vehicle with ID 15 is 57.7 meters away at (57.2, -7.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-4.7577047  -0.23358686] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.35645524 -0.6844247 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.0, -2.0) m/s. Its current heading (yaw) is -2.04 radians with an angular velocity of -2.04 rad/s.

The most relevant actors are: A vehicle with ID 1 is 12.6 meters away at (5.9, 11.1). A pedestrian with ID 9 is 26.1 meters away at (26.1, -0.7). A vehicle with ID 15 is 60.3 meters away at (60.3, -1.3).

The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.6271038 -2.8868985] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.02656884 -0.02027511] m/s.The vehicle with ID 15 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, 0.4) m/s. Its current heading (yaw) is 2.44 radians with an angular velocity of 2.44 rad/s.

The most relevant actors are: A vehicle with ID 27 is 3.2 meters away at (-2.7, -1.7). A vehicle with ID 26 is 8.5 meters away at (6.3, -5.7). A unknown object with ID 20 is 36.0 meters away at (-35.0, -8.1). A unknown object with ID 30 is 38.2 meters away at (-16.2, -34.6). A vehicle with ID 40 is 46.9 meters away at (41.4, -22.1). A unknown object with ID 1 is 47.6 meters away at (-45.8, -12.8). A pedestrian with ID 35 is 47.6 meters away at (-42.1, -22.2). A vehicle with ID 32 is 48.0 meters away at (-10.7, -46.8). A vehicle with ID 33 is 48.8 meters away at (48.8, 0.2). A vehicle with ID 34 is 51.9 meters away at (-51.8, 3.2).

The vehicle with ID 27 is traveling at a (x, y) velocity of [ 4.5356784 -3.976717 ] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [-0.95006746  0.8880195 ] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.4429425 -1.4990721] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.9, 2.2) 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 vehicle with ID 26 is 10.3 meters away at (7.8, -6.7). A vehicle with ID 27 is 17.0 meters away at (10.6, -13.3). A unknown object with ID 20 is 33.5 meters away at (-31.8, -10.8). A unknown object with ID 1 is 45.3 meters away at (-42.7, -15.3). A pedestrian with ID 35 is 48.5 meters away at (-40.1, -27.3). A vehicle with ID 34 is 48.6 meters away at (-48.6, 0.5). A vehicle with ID 40 is 51.1 meters away at (44.6, -25.0). A vehicle with ID 32 is 51.3 meters away at (-8.6, -50.5). A vehicle with ID 37 is 51.5 meters away at (-51.5, -2.4). A vehicle with ID 33 is 52.0 meters away at (51.9, -2.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-1.4318144  1.2492802] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 5.988212  -5.3398833] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.56008244 -1.2964109 ] m/s.The vehicle with ID 34 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 32 is traveling at a (x, y) velocity of [-1.1673648 -1.4876188] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.7, -0.6) m/s. Its current heading (yaw) is -3.02 radians with an angular velocity of -3.02 rad/s.

The most relevant actors are: A vehicle with ID 26 is 12.8 meters away at (11.5, -5.7). A unknown object with ID 20 is 27.3 meters away at (-23.8, -13.4). A unknown object with ID 1 is 39.0 meters away at (-34.8, -17.7). A vehicle with ID 34 is 40.6 meters away at (-40.6, -2.1). A unknown object with ID 16 is 42.1 meters away at (-42.0, 2.7). A vehicle with ID 27 is 42.3 meters away at (31.9, -27.8). A vehicle with ID 37 is 43.9 meters away at (-43.7, -4.9). A pedestrian with ID 35 is 46.5 meters away at (-33.5, -32.2). A vehicle with ID 3 is 50.3 meters away at (-31.4, -39.3). A vehicle with ID 40 is 59.4 meters away at (52.6, -27.7).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-2.274449   1.9964106] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [ 7.0970435 -6.249709 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.7765451 -1.210295 ] m/s.The vehicle with ID 3 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 (-3.6, -3.4) 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 26 is 14.7 meters away at (14.1, 4.1). A unknown object with ID 1 is 29.3 meters away at (-26.0, -13.5). A vehicle with ID 34 is 32.1 meters away at (-32.0, 2.5). A vehicle with ID 37 is 35.1 meters away at (-35.1, -0.2). A vehicle with ID 3 is 38.0 meters away at (-20.0, -32.3). A vehicle with ID 2 is 38.3 meters away at (-20.5, -32.3). A vehicle with ID 23 is 38.9 meters away at (-38.0, 8.6). A pedestrian with ID 35 is 40.1 meters away at (-26.3, -30.2). A vehicle with ID 22 is 46.8 meters away at (-26.4, -38.7). A unknown object with ID 7 is 47.8 meters away at (6.4, -47.4).

The vehicle with ID 26 is traveling at a (x, y) velocity of [-4.183232  3.471021] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 35 is traveling at a (x, y) velocity of [-0.9190197 -1.13141  ] m/s.The vehicle with ID 22 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.

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 1.05 radians with an angular velocity of 1.05 rad/s.

The most relevant actors are: A vehicle with ID 66 is 3.2 meters away at (3.1, -0.6). A vehicle with ID 5 is 7.0 meters away at (-3.7, -5.9). A pedestrian with ID 72 is 9.7 meters away at (6.3, -7.3). A pedestrian with ID 71 is 11.4 meters away at (4.8, -10.4). A pedestrian with ID 57 is 11.8 meters away at (8.5, -8.2). A cyclist with ID 60 is 12.0 meters away at (8.4, 8.5). A pedestrian with ID 68 is 16.3 meters away at (0.6, 16.3). A cyclist with ID 50 is 16.4 meters away at (0.6, 16.4). A vehicle with ID 67 is 20.3 meters away at (-6.2, -19.3). A pedestrian with ID 79 is 21.0 meters away at (20.4, -5.0).

The vehicle with ID 66 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 pedestrian with ID 72 is traveling at a (x, y) velocity of [0.76139075 1.1891689 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.91237277 1.2639533 ] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.5908226 1.197926 ] m/s.The cyclist with ID 60 is traveling at a (x, y) velocity of [ 3.9237552 -3.1100087] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 2.4646516 -2.6220517] m/s.The cyclist with ID 50 is traveling at a (x, y) velocity of [ 2.4664974 -2.717687 ] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.8883009  0.7073288] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.5, 0.9) m/s. Its current heading (yaw) is 1.07 radians with an angular velocity of 1.07 rad/s.

The most relevant actors are: A vehicle with ID 66 is 3.0 meters away at (2.8, -1.3). A vehicle with ID 5 is 7.8 meters away at (-4.1, -6.6). A pedestrian with ID 72 is 9.7 meters away at (7.6, -6.0). A pedestrian with ID 71 is 10.6 meters away at (6.0, -8.7). A pedestrian with ID 57 is 11.4 meters away at (9.3, -6.6). A pedestrian with ID 68 is 11.7 meters away at (5.4, 10.4). A cyclist with ID 60 is 15.7 meters away at (15.7, 1.2). A pedestrian with ID 79 is 19.1 meters away at (18.6, -4.6). A pedestrian with ID 81 is 19.8 meters away at (19.4, -4.1). A unknown object with ID 51 is 20.0 meters away at (-20.0, 0.5).

The vehicle with ID 66 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 pedestrian with ID 72 is traveling at a (x, y) velocity of [0.89948964 1.0288932 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [0.9151442 1.4898587] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.755574  1.1951662] m/s.The pedestrian with ID 68 is traveling at a (x, y) velocity of [ 2.4645882 -2.3704696] m/s.The cyclist with ID 60 is traveling at a (x, y) velocity of [ 4.0676613 -3.0772238] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.4864681  0.5745713] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.21647614  0.38888153] m/s.The unknown object with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 2.2) m/s. Its current heading (yaw) is 1.08 radians with an angular velocity of 1.08 rad/s.

The most relevant actors are: A vehicle with ID 66 is 3.7 meters away at (1.8, -3.2). A cyclist with ID 37 is 9.0 meters away at (8.3, 3.6). A vehicle with ID 5 is 9.3 meters away at (-4.8, -7.9). A pedestrian with ID 72 is 10.8 meters away at (8.0, -7.3). A pedestrian with ID 71 is 11.1 meters away at (6.6, -9.0). A pedestrian with ID 57 is 11.6 meters away at (9.2, -7.1). A unknown object with ID 35 is 17.4 meters away at (-17.1, -3.0). A pedestrian with ID 79 is 17.9 meters away at (16.6, -6.6). A pedestrian with ID 81 is 19.2 meters away at (18.0, -6.8). A unknown object with ID 69 is 20.9 meters away at (20.4, -4.7).

The vehicle with ID 66 is traveling at a (x, y) velocity of [0.5692469 0.7582062] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 2.1965191 -2.244885 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0.81870097 1.4093417 ] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.91137195 0.6807327 ] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [1.0764263 1.0291433] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.81098044 0.7405445 ] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.01221297 -0.01985306] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [ 0.00035615 -0.01585693] m/s.The unknown object with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, 4.4) 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 66 is 7.7 meters away at (1.5, -7.6). A vehicle with ID 5 is 10.3 meters away at (-4.5, -9.3). A cyclist with ID 37 is 13.5 meters away at (10.9, -8.0). A pedestrian with ID 72 is 14.9 meters away at (7.5, -12.9). A pedestrian with ID 71 is 15.2 meters away at (6.2, -13.9). A pedestrian with ID 57 is 15.2 meters away at (8.7, -12.5). A pedestrian with ID 79 is 19.3 meters away at (14.0, -13.3). A pedestrian with ID 81 is 20.5 meters away at (15.3, -13.6). A vehicle with ID 54 is 20.8 meters away at (-8.8, 18.8). A unknown object with ID 69 is 21.1 meters away at (17.7, -11.5).

The vehicle with ID 66 is traveling at a (x, y) velocity of [1.8139361 1.3561413] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [1.9199123 3.5598762] m/s.The cyclist with ID 37 is traveling at a (x, y) velocity of [ 2.7046895 -2.4229805] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [1.0564654  0.39112985] m/s.The pedestrian with ID 71 is traveling at a (x, y) velocity of [1.0805618  0.77797216] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [0.94615084 0.5367414 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-0.0168892   0.01266734] m/s.The pedestrian with ID 81 is traveling at a (x, y) velocity of [-0.0341349  -0.00817272] m/s.The vehicle with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 69 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 (-2.8, -6.4) m/s. Its current heading (yaw) is -1.98 radians with an angular velocity of -1.98 rad/s.

The most relevant actors are: A unknown object with ID 46 is 10.4 meters away at (9.5, -4.3). A vehicle with ID 69 is 11.8 meters away at (-11.6, -2.0). A unknown object with ID 50 is 15.7 meters away at (-15.7, 0.2). A cyclist with ID 70 is 18.0 meters away at (-14.5, -10.7). A vehicle with ID 10 is 18.5 meters away at (3.9, 18.1). A pedestrian with ID 11 is 21.5 meters away at (-11.7, 18.0). A vehicle with ID 44 is 26.8 meters away at (-13.5, -23.2). A vehicle with ID 47 is 33.0 meters away at (-15.7, -29.0). A pedestrian with ID 64 is 39.1 meters away at (-3.3, 38.9). A vehicle with ID 71 is 41.2 meters away at (-32.0, -26.0).

The unknown object with ID 46 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 [3.8469586 9.5558605] m/s.The unknown object with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [3.9321885 9.149298 ] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-3.3361895 -7.4839406] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [-0.5073447 -1.3075421] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 64 is traveling at a (x, y) velocity of [0.10562618 0.9537723 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [4.197832  1.2261697] m/s.

Instruction: Continue straight.