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 2.20 radians with an angular velocity of 2.20 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 6.2 meters away at (3.1, 5.3). A vehicle with ID 34 is 8.0 meters away at (-4.9, 6.3). A vehicle with ID 46 is 13.8 meters away at (10.1, -9.3). A vehicle with ID 48 is 14.4 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.9 meters away at (-9.1, 13.1). A pedestrian with ID 55 is 17.2 meters away at (-2.0, 17.1). A vehicle with ID 58 is 22.9 meters away at (-16.5, 15.9). A vehicle with ID 59 is 23.7 meters away at (-13.9, 19.2). A pedestrian with ID 67 is 26.7 meters away at (-8.3, 25.4). A vehicle with ID 42 is 27.8 meters away at (7.1, -26.9).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00276231 -0.01083109] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.66273034  1.344323  ] m/s.The vehicle with ID 48 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.7159481   0.94203633] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.6720112   0.71951985] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [ 5.688781  -7.7081885] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.20 radians with an angular velocity of 2.20 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 6.1 meters away at (3.1, 5.3). A vehicle with ID 34 is 7.9 meters away at (-4.9, 6.3). A vehicle with ID 46 is 11.2 meters away at (8.7, -7.0). A vehicle with ID 48 is 14.3 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.8 meters away at (-9.0, 13.0). A pedestrian with ID 55 is 19.2 meters away at (-3.2, 18.9). A vehicle with ID 58 is 22.8 meters away at (-16.4, 15.8). A vehicle with ID 59 is 23.6 meters away at (-13.8, 19.2). A pedestrian with ID 60 is 26.1 meters away at (19.8, -17.0). A pedestrian with ID 67 is 28.5 meters away at (-9.5, 26.9).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [-0.00027726 -0.00202141] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [-0.7221201  0.9605964] m/s.The vehicle with ID 48 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.70704234  0.89939237] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.1124068  0.8478949] m/s.The pedestrian with ID 67 is traveling at a (x, y) velocity of [-0.5755503   0.89152855] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.20 radians with an angular velocity of 2.20 rad/s.

The most relevant actors are: A pedestrian with ID 33 is 5.2 meters away at (4.0, 3.3). A vehicle with ID 34 is 7.9 meters away at (-4.8, 6.2). A vehicle with ID 46 is 9.9 meters away at (7.9, -6.1). A vehicle with ID 48 is 14.3 meters away at (-11.0, 9.2). A vehicle with ID 50 is 15.8 meters away at (-9.0, 13.0). A pedestrian with ID 55 is 21.2 meters away at (-4.7, 20.7). A vehicle with ID 58 is 22.8 meters away at (-16.4, 15.8). A vehicle with ID 59 is 23.6 meters away at (-13.9, 19.1). A pedestrian with ID 60 is 23.6 meters away at (17.4, -15.9). A vehicle with ID 51 is 26.8 meters away at (16.1, -21.4).

The pedestrian with ID 33 is traveling at a (x, y) velocity of [ 0.8341286 -1.223102 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 48 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.6796715  0.8623215] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.0624149   0.37729502] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [-2.2126474  1.1407216] 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, 2.1) m/s. Its current heading (yaw) is 1.21 radians with an angular velocity of 1.21 rad/s.

The most relevant actors are: A vehicle with ID 37 is 6.8 meters away at (-5.1, -4.5). A vehicle with ID 38 is 22.3 meters away at (-17.0, 14.6). A unknown object with ID 39 is 23.0 meters away at (18.7, 13.4). A vehicle with ID 40 is 26.2 meters away at (-20.8, 16.0). A vehicle with ID 41 is 27.1 meters away at (25.4, 9.4). A vehicle with ID 42 is 29.3 meters away at (-11.9, 26.8). A vehicle with ID 43 is 31.8 meters away at (-15.4, 27.9). A vehicle with ID 45 is 34.8 meters away at (-18.7, 29.3). A vehicle with ID 44 is 35.1 meters away at (-17.5, -30.5). A vehicle with ID 46 is 37.0 meters away at (-22.1, 29.7).

The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.0532568 -6.192995 ] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.6, 4.8) m/s. Its current heading (yaw) is 1.24 radians with an angular velocity of 1.24 rad/s.

The most relevant actors are: A unknown object with ID 39 is 17.5 meters away at (16.3, 6.4). A vehicle with ID 38 is 20.8 meters away at (-19.3, 7.7). A vehicle with ID 41 is 23.1 meters away at (23.0, 2.5). A vehicle with ID 42 is 24.5 meters away at (-14.3, 19.9). A vehicle with ID 40 is 24.9 meters away at (-23.2, 9.2). A vehicle with ID 37 is 27.5 meters away at (-11.9, -24.8). A vehicle with ID 43 is 27.5 meters away at (-17.7, 21.0). A vehicle with ID 45 is 30.8 meters away at (-21.1, 22.4). A vehicle with ID 35 is 32.5 meters away at (4.1, 32.2). A vehicle with ID 46 is 33.4 meters away at (-24.5, 22.8).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-2.182754  -6.4907055] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 7.1) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A unknown object with ID 39 is 13.4 meters away at (12.3, -5.4). A vehicle with ID 42 is 19.9 meters away at (-18.3, 8.0). A vehicle with ID 35 is 20.4 meters away at (0.1, 20.4). A vehicle with ID 41 is 21.1 meters away at (19.0, -9.3). A vehicle with ID 43 is 23.6 meters away at (-21.8, 9.1). A vehicle with ID 38 is 23.7 meters away at (-23.4, -4.1). A vehicle with ID 45 is 27.3 meters away at (-25.2, 10.4). A vehicle with ID 40 is 27.3 meters away at (-27.2, -2.5). A vehicle with ID 46 is 30.5 meters away at (-28.5, 10.8). A vehicle with ID 47 is 37.0 meters away at (34.1, -14.3).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 (2.7, 8.1) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A vehicle with ID 35 is 7.1 meters away at (-5.0, 5.0). A vehicle with ID 42 is 24.5 meters away at (-23.4, -7.4). A vehicle with ID 36 is 25.8 meters away at (2.0, 25.7). A vehicle with ID 38 is 34.6 meters away at (-28.5, -19.6). A vehicle with ID 34 is 35.3 meters away at (14.5, 32.2). A vehicle with ID 40 is 37.0 meters away at (-32.3, -18.0). A vehicle with ID 4 is 40.9 meters away at (7.0, 40.3). A vehicle with ID 2 is 46.6 meters away at (9.0, 45.7). A vehicle with ID 44 is 71.0 meters away at (-29.1, -64.8). A vehicle with ID 37 is 80.2 meters away at (-28.7, -74.9).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.3841232 -4.852871 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.9, 0.7) m/s. Its current heading (yaw) is 2.53 radians with an angular velocity of 2.53 rad/s.

The most relevant actors are: A vehicle with ID 33 is 3.3 meters away at (1.9, 2.7). A vehicle with ID 34 is 8.0 meters away at (7.7, 2.2). A vehicle with ID 43 is 11.9 meters away at (11.2, -3.9). A vehicle with ID 38 is 13.5 meters away at (13.5, -1.2). A vehicle with ID 40 is 14.6 meters away at (12.1, -8.1). A vehicle with ID 47 is 18.9 meters away at (1.3, -18.8). A vehicle with ID 50 is 21.0 meters away at (20.2, -6.0). A pedestrian with ID 55 is 22.1 meters away at (-4.3, -21.7). A vehicle with ID 52 is 23.1 meters away at (6.8, -22.1). A vehicle with ID 59 is 23.9 meters away at (-16.0, 17.8).

The vehicle with ID 33 is traveling at a (x, y) velocity of [-3.1403935  2.0546687] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-4.0827904  2.7299821] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [-1.9583911  1.2522441] 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 pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.6401337  0.9198392] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.52 radians with an angular velocity of 2.52 rad/s.

The most relevant actors are: A vehicle with ID 33 is 4.2 meters away at (-0.3, 4.2). A vehicle with ID 43 is 6.5 meters away at (6.4, -0.7). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 11.3 meters away at (9.4, -6.3). A vehicle with ID 38 is 14.0 meters away at (13.9, -1.5). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 21.2 meters away at (-7.0, -20.0). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 59 is 23.4 meters away at (-15.6, 17.5). A vehicle with ID 52 is 23.5 meters away at (7.2, -22.4).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [-1.205303   0.7932466] 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 [-1.1486685  0.755759 ] m/s.The vehicle with ID 38 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 55 is traveling at a (x, y) velocity of [-1.4494653  1.0529474] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 2.52 radians with an angular velocity of 2.52 rad/s.

The most relevant actors are: A vehicle with ID 33 is 4.1 meters away at (-0.2, 4.1). A vehicle with ID 43 is 5.6 meters away at (5.6, -0.1). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 9.4 meters away at (7.8, -5.3). A vehicle with ID 38 is 14.1 meters away at (14.0, -1.6). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 20.4 meters away at (-9.8, -17.8). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 69 is 21.9 meters away at (-21.9, 0.5). A vehicle with ID 59 is 23.4 meters away at (-15.6, 17.5).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 [-0.40564457  0.2764262 ] m/s.The vehicle with ID 38 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 55 is traveling at a (x, y) velocity of [-1.5173677  1.09032  ] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 0.7258907  -0.46574178] m/s.The vehicle with ID 59 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 2.52 radians with an angular velocity of 2.52 rad/s.

The most relevant actors are: A vehicle with ID 33 is 4.1 meters away at (-0.3, 4.1). A vehicle with ID 43 is 5.6 meters away at (5.6, -0.1). A vehicle with ID 34 is 8.2 meters away at (8.0, 2.0). A vehicle with ID 40 is 9.0 meters away at (7.5, -5.0). A vehicle with ID 38 is 14.2 meters away at (14.1, -1.7). A vehicle with ID 47 is 19.2 meters away at (1.7, -19.1). A pedestrian with ID 55 is 20.3 meters away at (-12.8, -15.8). A vehicle with ID 69 is 21.4 meters away at (-21.4, 0.1). A vehicle with ID 50 is 21.5 meters away at (20.5, -6.4). A vehicle with ID 75 is 22.5 meters away at (-22.1, 4.1).

The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 38 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 55 is traveling at a (x, y) velocity of [-1.468899   1.0086443] m/s.The vehicle with ID 69 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 75 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, 0.4) m/s. Its current heading (yaw) is 0.13 radians with an angular velocity of 0.13 rad/s.

The most relevant actors are: A unknown object with ID 37 is 2.5 meters away at (-0.0, 2.5). A unknown object with ID 46 is 3.4 meters away at (-2.3, 2.5). A unknown object with ID 41 is 3.6 meters away at (2.0, 3.0). A vehicle with ID 10 is 4.7 meters away at (-1.8, 4.3). A unknown object with ID 58 is 5.1 meters away at (2.1, 4.6). A unknown object with ID 9 is 5.1 meters away at (-4.3, 2.8). A unknown object with ID 43 is 6.2 meters away at (-5.5, 3.0). A unknown object with ID 31 is 6.6 meters away at (1.2, 6.5). A unknown object with ID 44 is 7.6 meters away at (-6.8, 3.5). A unknown object with ID 34 is 7.7 meters away at (5.2, 5.6).

The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 43 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 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 1.2) m/s. Its current heading (yaw) is 0.46 radians with an angular velocity of 0.46 rad/s.

The most relevant actors are: A unknown object with ID 41 is 3.5 meters away at (-3.1, 1.6). A unknown object with ID 38 is 3.6 meters away at (1.3, 3.3). A unknown object with ID 34 is 4.2 meters away at (0.2, 4.2). A unknown object with ID 47 is 4.3 meters away at (3.9, -1.7). A unknown object with ID 58 is 4.3 meters away at (-3.0, 3.2). A unknown object with ID 37 is 5.2 meters away at (-5.1, 1.0). A unknown object with ID 39 is 5.2 meters away at (3.1, 4.2). A unknown object with ID 11 is 6.2 meters away at (0.1, 6.2). A unknown object with ID 31 is 6.5 meters away at (-3.9, 5.1). A unknown object with ID 42 is 7.1 meters away at (4.7, 5.3).

The unknown object with ID 41 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 unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.2, 1.8) m/s. Its current heading (yaw) is 0.69 radians with an angular velocity of 0.69 rad/s.

The most relevant actors are: A unknown object with ID 39 is 2.0 meters away at (-1.6, 1.1). A unknown object with ID 42 is 2.3 meters away at (0.1, 2.3). A unknown object with ID 38 is 3.2 meters away at (-3.2, 0.3). A unknown object with ID 40 is 3.9 meters away at (1.5, 3.7). A unknown object with ID 34 is 4.5 meters away at (-4.4, 1.1). A unknown object with ID 47 is 4.7 meters away at (-0.6, -4.7). A unknown object with ID 11 is 5.5 meters away at (-4.5, 3.2). A unknown object with ID 36 is 5.9 meters away at (2.9, 5.2). A unknown object with ID 32 is 6.8 meters away at (-4.3, 5.2). A unknown object with ID 58 is 7.5 meters away at (-7.5, 0.2).

The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 2.7) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A unknown object with ID 36 is 2.0 meters away at (-1.8, 0.6). A unknown object with ID 40 is 3.3 meters away at (-3.2, -0.9). A unknown object with ID 42 is 5.2 meters away at (-4.6, -2.2). A unknown object with ID 2 is 5.4 meters away at (-3.2, 4.4). A unknown object with ID 15 is 5.5 meters away at (-2.9, 4.7). A unknown object with ID 33 is 6.5 meters away at (-5.0, 4.2). A unknown object with ID 39 is 7.1 meters away at (-6.2, -3.3). A unknown object with ID 70 is 7.8 meters away at (-7.0, 3.6). A unknown object with ID 35 is 8.9 meters away at (-8.5, 2.6). A unknown object with ID 32 is 9.0 meters away at (-9.0, 0.7).

The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 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 (-5.3, -4.3) m/s. Its current heading (yaw) is -2.46 radians with an angular velocity of -2.46 rad/s.

The most relevant actors are: A vehicle with ID 25 is 3.8 meters away at (1.4, -3.6). A unknown object with ID 22 is 4.2 meters away at (0.6, 4.2). A vehicle with ID 26 is 7.7 meters away at (2.7, -7.2). A vehicle with ID 20 is 8.0 meters away at (7.9, 1.5). A vehicle with ID 21 is 9.7 meters away at (9.5, -1.9). A vehicle with ID 23 is 12.7 meters away at (11.8, -4.5). A vehicle with ID 27 is 16.0 meters away at (-6.6, -14.6). A vehicle with ID 28 is 26.5 meters away at (-16.1, -21.0). A vehicle with ID 4 is 27.1 meters away at (-21.2, -16.9). A vehicle with ID 29 is 33.8 meters away at (-21.6, -26.1).

The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-6.7395315 -5.322715 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.4, -4.3) m/s. Its current heading (yaw) is -2.47 radians with an angular velocity of -2.47 rad/s.

The most relevant actors are: A vehicle with ID 27 is 7.2 meters away at (3.9, -6.0). A vehicle with ID 25 is 12.9 meters away at (11.8, 5.0). A vehicle with ID 26 is 13.2 meters away at (13.1, 1.4). A vehicle with ID 28 is 13.6 meters away at (-5.5, -12.4). A vehicle with ID 29 is 20.7 meters away at (-10.9, -17.6). A vehicle with ID 20 is 21.0 meters away at (18.4, 10.2). A vehicle with ID 21 is 21.2 meters away at (20.0, 6.8). A vehicle with ID 23 is 22.7 meters away at (22.3, 4.2). A vehicle with ID 17 is 25.8 meters away at (-18.0, -18.5). A vehicle with ID 31 is 27.2 meters away at (-16.9, -21.3).

The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 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 [6.3480663 4.941563 ] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.2, -4.8) m/s. Its current heading (yaw) is -2.48 radians with an angular velocity of -2.48 rad/s.

The most relevant actors are: A vehicle with ID 17 is 4.6 meters away at (4.5, -0.7). A vehicle with ID 28 is 6.9 meters away at (6.1, -3.3). A vehicle with ID 29 is 8.5 meters away at (0.7, -8.5). A vehicle with ID 31 is 13.4 meters away at (-5.3, -12.3). A vehicle with ID 27 is 15.7 meters away at (15.4, 3.0). A vehicle with ID 32 is 21.4 meters away at (-11.8, -17.8). A vehicle with ID 26 is 26.9 meters away at (24.7, 10.6). A vehicle with ID 25 is 27.3 meters away at (23.4, 14.1). A pedestrian with ID 13 is 32.7 meters away at (-27.3, -18.0). A vehicle with ID 4 is 35.3 meters away at (-27.1, -22.6).

The vehicle with ID 17 is traveling at a (x, y) velocity of [4.5396314 3.5213234] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.0788853 0.9172452] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.3154535 -6.2557793] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.7, -5.7) 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 32 is 7.4 meters away at (1.0, -7.3). A vehicle with ID 31 is 7.7 meters away at (7.6, -1.7). A pedestrian with ID 13 is 13.3 meters away at (-12.2, -5.4). A vehicle with ID 29 is 13.7 meters away at (13.6, 2.0). A vehicle with ID 8 is 15.0 meters away at (-7.4, -13.0). A unknown object with ID 18 is 18.9 meters away at (18.9, -1.2). A vehicle with ID 28 is 20.3 meters away at (19.0, 7.2). A vehicle with ID 17 is 28.9 meters away at (24.5, 15.3). A vehicle with ID 27 is 31.5 meters away at (28.3, 13.7). A vehicle with ID 4 is 38.2 meters away at (-29.1, -24.7).

The vehicle with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 13 is traveling at a (x, y) velocity of [1.1504153 1.1083282] m/s.The vehicle with ID 29 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 [1.1862769 0.8133269] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [2.5397642 1.9977487] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [-7.7867274 -6.240707 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, -1.1) 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 vehicle with ID 98 is 3.1 meters away at (-1.7, -2.6). A vehicle with ID 95 is 5.7 meters away at (-5.7, 0.6). A vehicle with ID 94 is 5.9 meters away at (4.7, 3.6). A unknown object with ID 96 is 6.6 meters away at (1.1, 6.5). A vehicle with ID 103 is 9.3 meters away at (3.2, 8.7). A pedestrian with ID 99 is 9.7 meters away at (-0.4, 9.6). A pedestrian with ID 101 is 10.1 meters away at (0.0, 10.1). A vehicle with ID 107 is 13.0 meters away at (0.3, -13.0). A unknown object with ID 102 is 13.2 meters away at (-3.0, 12.9). A vehicle with ID 100 is 13.3 meters away at (-11.9, 6.1).

The vehicle with ID 98 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 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 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 pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.01452126 -0.01394945] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.03785067 -0.03231675] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 100 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.4, -0.3) m/s. Its current heading (yaw) is -0.74 radians with an angular velocity of -0.74 rad/s.

The most relevant actors are: A vehicle with ID 98 is 3.2 meters away at (-2.7, -1.7). A vehicle with ID 94 is 5.7 meters away at (3.7, 4.4). A vehicle with ID 95 is 6.9 meters away at (-6.7, 1.4). A unknown object with ID 96 is 7.4 meters away at (0.0, 7.4). A vehicle with ID 103 is 9.9 meters away at (2.2, 9.6). A unknown object with ID 85 is 10.5 meters away at (5.4, 9.0). A pedestrian with ID 99 is 10.5 meters away at (-1.4, 10.4). A pedestrian with ID 101 is 10.9 meters away at (-1.0, 10.9). A vehicle with ID 107 is 12.2 meters away at (-0.8, -12.2). A unknown object with ID 102 is 14.3 meters away at (-4.0, 13.7).

The vehicle with ID 98 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 vehicle with ID 95 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 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 unknown object with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 99 is traveling at a (x, y) velocity of [-0.05909583  0.02658346] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [-0.03113008  0.00293682] m/s.The vehicle with ID 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 102 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, -1.0) m/s. Its current heading (yaw) is -0.32 radians with an angular velocity of -0.32 rad/s.

The most relevant actors are: A vehicle with ID 98 is 6.1 meters away at (-6.1, 0.1). A vehicle with ID 94 is 6.2 meters away at (0.3, 6.2). A unknown object with ID 96 is 9.9 meters away at (-3.3, 9.3). A vehicle with ID 95 is 10.7 meters away at (-10.2, 3.4). A vehicle with ID 107 is 11.1 meters away at (-4.3, -10.3). A vehicle with ID 103 is 11.5 meters away at (-1.2, 11.4). A pedestrian with ID 99 is 13.3 meters away at (-4.8, 12.4). A pedestrian with ID 101 is 13.6 meters away at (-4.4, 12.9). A vehicle with ID 76 is 16.3 meters away at (-7.8, -14.3). A vehicle with ID 109 is 16.3 meters away at (12.4, 10.6).

The vehicle with ID 98 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 unknown object with ID 96 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 107 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 pedestrian with ID 99 is traveling at a (x, y) velocity of [ 0.00515002 -0.03251549] m/s.The pedestrian with ID 101 is traveling at a (x, y) velocity of [ 0.00849512 -0.00967009] m/s.The vehicle with ID 76 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.7, 1.8) m/s. Its current heading (yaw) is 0.45 radians with an angular velocity of 0.45 rad/s.

The most relevant actors are: A vehicle with ID 94 is 9.0 meters away at (-7.0, 5.7). A unknown object with ID 73 is 10.4 meters away at (-3.5, 9.7). A vehicle with ID 108 is 11.2 meters away at (8.8, -7.0). A vehicle with ID 109 is 11.3 meters away at (5.1, 10.0). A unknown object with ID 64 is 11.6 meters away at (-5.3, 10.3). A vehicle with ID 98 is 13.4 meters away at (-13.4, -0.5). A unknown object with ID 96 is 13.8 meters away at (-10.7, 8.8). A vehicle with ID 103 is 14.0 meters away at (-8.6, 11.0). A vehicle with ID 107 is 15.8 meters away at (-11.4, -10.9). A vehicle with ID 93 is 16.2 meters away at (8.4, 13.9).

The vehicle with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 108 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 109 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 96 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 107 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.2, -0.9) 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 pedestrian with ID 6 is 6.0 meters away at (5.9, -1.2). A pedestrian with ID 8 is 23.0 meters away at (22.8, -2.8). A pedestrian with ID 7 is 36.9 meters away at (25.6, 26.5). A pedestrian with ID 12 is 39.4 meters away at (22.4, 32.4). A pedestrian with ID 14 is 53.6 meters away at (12.0, 52.2). A unknown object with ID 15 is 54.8 meters away at (3.2, 54.7). A vehicle with ID 11 is 61.3 meters away at (-61.2, 1.3).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.97246486  0.35510266] m/s.The pedestrian with ID 8 is traveling at a (x, y) velocity of [-0.00939107 -0.03353919] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.0430208  -0.10647538] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.1515089  0.23857675] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [-0.03132897  0.02879439] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-14.349692    5.7136917] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 radians with an angular velocity of -1.36 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 4.1 meters away at (4.1, -0.4). A pedestrian with ID 1 is 10.0 meters away at (9.3, -3.8). A pedestrian with ID 7 is 35.0 meters away at (23.2, 26.2). A pedestrian with ID 12 is 41.5 meters away at (24.5, 33.6). A unknown object with ID 15 is 55.6 meters away at (2.9, 55.5). A vehicle with ID 16 is 59.1 meters away at (41.4, -42.2). A vehicle with ID 3 is 65.7 meters away at (-63.4, 17.2).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [-0.64172316  0.10745003] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-1.1498713  0.6450945] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.158769   -0.44326478] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [0.90022534 0.6675423 ] m/s.The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-11.456466   4.79782 ] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [13.027937  -5.3767457] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 radians with an angular velocity of -1.36 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 3.9 meters away at (3.9, -0.2). A pedestrian with ID 1 is 8.2 meters away at (7.7, -2.7). A pedestrian with ID 7 is 32.7 meters away at (21.0, 25.0). A vehicle with ID 16 is 37.9 meters away at (18.9, -32.8). A vehicle with ID 3 is 38.5 meters away at (-37.9, 6.8). A pedestrian with ID 12 is 43.3 meters away at (26.6, 34.2). A vehicle with ID 2 is 50.8 meters away at (36.1, -35.7).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [ 0.00414842 -0.00030204] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.677305   0.5289225] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.1841596 -0.757009 ] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-10.862382   4.585152] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [12.823285  -5.3517447] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [1.1351144  0.22040974] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-16.470137   6.973223] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, -0.0) m/s. Its current heading (yaw) is -1.36 radians with an angular velocity of -1.36 rad/s.

The most relevant actors are: A pedestrian with ID 6 is 3.8 meters away at (3.8, -0.3). A pedestrian with ID 1 is 6.7 meters away at (6.4, -1.9). A vehicle with ID 3 is 12.3 meters away at (-11.5, -4.2). A vehicle with ID 2 is 22.2 meters away at (3.2, -21.9). A vehicle with ID 16 is 23.9 meters away at (-2.5, -23.8). A pedestrian with ID 7 is 30.4 meters away at (18.6, 24.1). A pedestrian with ID 12 is 44.8 meters away at (28.7, 34.4).

The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.01110831 0.00250253] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.6068131   0.40934947] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [13.472304 -5.615899] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [-16.232038    6.8819933] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [-10.388404    4.4428725] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [-1.2027142  -0.28522107] m/s.The pedestrian with ID 12 is traveling at a (x, y) velocity of [ 1.1675258  -0.01091674] 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 2.79 radians with an angular velocity of 2.79 rad/s.

The most relevant actors are: A cyclist with ID 49 is 5.1 meters away at (-2.1, 4.7). A pedestrian with ID 26 is 11.3 meters away at (-10.2, -5.0). A pedestrian with ID 50 is 13.7 meters away at (-13.0, -4.2). A vehicle with ID 62 is 16.1 meters away at (16.1, -0.2). A pedestrian with ID 60 is 24.0 meters away at (-3.0, 23.8). A vehicle with ID 51 is 24.1 meters away at (-23.8, -3.6). A pedestrian with ID 63 is 31.0 meters away at (-29.5, 9.5). A cyclist with ID 66 is 31.1 meters away at (-29.6, 9.5). A cyclist with ID 29 is 33.2 meters away at (-26.4, 20.1). A unknown object with ID 67 is 36.6 meters away at (-35.1, -10.3).

The cyclist with ID 49 is traveling at a (x, y) velocity of [-2.1708333  1.016281 ] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.37894973 -0.57185405] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-0.8104643  0.7335372] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-2.4021087  1.0695068] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-0.7752547   0.09138488] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.0322753  0.04135307] m/s.The cyclist with ID 66 is traveling at a (x, y) velocity of [0.00805608 0.01843224] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.5439556 -0.5190766] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, 0.3) m/s. Its current heading (yaw) is 3.00 radians with an angular velocity of 3.00 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 10.6 meters away at (-8.0, -7.0). A pedestrian with ID 50 is 13.6 meters away at (-13.2, -3.0). A cyclist with ID 49 is 14.0 meters away at (-10.6, 9.1). A vehicle with ID 62 is 14.1 meters away at (14.0, 1.1). A vehicle with ID 51 is 21.8 meters away at (-21.5, -4.1). A pedestrian with ID 60 is 24.3 meters away at (-3.5, 24.1). A cyclist with ID 29 is 27.8 meters away at (-21.0, 18.2). A pedestrian with ID 63 is 28.5 meters away at (-27.1, 9.1). A vehicle with ID 69 is 34.3 meters away at (-21.7, 26.6). A unknown object with ID 67 is 34.5 meters away at (-32.8, -10.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.22227341 -0.8193466 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.284714   0.8154552] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-6.727644  3.127726] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.9404812  0.870009 ] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.5635028   0.52819365] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.216219  -0.6677625] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.00399357  0.01099771] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 3.0482254 -1.3659117] m/s.The unknown object with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.1, -0.1) m/s. Its current heading (yaw) is -3.10 radians with an angular velocity of -3.10 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 9.6 meters away at (-4.4, -8.6). A pedestrian with ID 50 is 11.7 meters away at (-11.6, -1.6). A vehicle with ID 62 is 14.8 meters away at (14.6, 2.4). A vehicle with ID 51 is 17.9 meters away at (-17.3, -4.5). A cyclist with ID 29 is 21.5 meters away at (-14.4, 16.0). A vehicle with ID 69 is 24.5 meters away at (-9.5, 22.6). A pedestrian with ID 63 is 24.6 meters away at (-22.9, 8.8). A pedestrian with ID 60 is 24.9 meters away at (-2.5, 24.8). A cyclist with ID 49 is 28.6 meters away at (-23.5, 16.4). A vehicle with ID 48 is 29.4 meters away at (-26.6, -12.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.1743003 -0.5868144] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.2653123  0.8389511] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [-1.4739118   0.65237266] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 1.1088481 -0.9188836] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 4.935495  -2.1588438] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [-0.0189132  -0.00114143] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.5197022  0.540387 ] m/s.The cyclist with ID 49 is traveling at a (x, y) velocity of [-9.477176  4.057085] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [1.3309517 5.539256 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.5, -0.8) m/s. Its current heading (yaw) is -2.84 radians with an angular velocity of -2.84 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 9.1 meters away at (-0.6, -9.1). A pedestrian with ID 50 is 9.8 meters away at (-9.8, 0.8). A vehicle with ID 51 is 13.7 meters away at (-13.1, -3.8). A vehicle with ID 62 is 16.2 meters away at (15.6, 4.5). A cyclist with ID 29 is 17.6 meters away at (-8.8, 15.2). A vehicle with ID 69 is 19.3 meters away at (5.9, 18.3). A pedestrian with ID 63 is 21.0 meters away at (-18.8, 9.5). A vehicle with ID 48 is 21.2 meters away at (-20.8, -3.7). A vehicle with ID 61 is 24.5 meters away at (-14.5, 19.7). A pedestrian with ID 60 is 26.5 meters away at (-1.2, 26.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00383023 -0.5291355 ] m/s.The pedestrian with ID 50 is traveling at a (x, y) velocity of [-1.1068544   0.84642714] m/s.The vehicle with ID 51 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 [-1.356932    0.61113656] m/s.The cyclist with ID 29 is traveling at a (x, y) velocity of [ 0.668365  -0.6288518] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [ 6.3743496 -2.8445876] m/s.The pedestrian with ID 63 is traveling at a (x, y) velocity of [0.02754668 0.00387456] m/s.The vehicle with ID 48 is traveling at a (x, y) velocity of [0.20595154 2.5518196 ] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [ 1.4412454  -0.77079654] m/s.The pedestrian with ID 60 is traveling at a (x, y) velocity of [-1.2127944  0.5186942] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.9) 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 unknown object with ID 33 is 3.8 meters away at (-0.7, 3.8). A unknown object with ID 34 is 38.2 meters away at (-24.4, -29.4). A vehicle with ID 35 is 59.6 meters away at (-21.1, 55.8). A unknown object with ID 36 is 61.2 meters away at (12.8, 59.8).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.1, 5.0) m/s. Its current heading (yaw) is 1.02 radians with an angular velocity of 1.02 rad/s.

The most relevant actors are: A unknown object with ID 33 is 8.4 meters away at (-6.5, -5.3). A unknown object with ID 2 is 17.8 meters away at (-14.3, 10.7). A unknown object with ID 15 is 29.0 meters away at (-24.6, 15.4). A vehicle with ID 30 is 37.0 meters away at (-29.3, 22.5). A unknown object with ID 25 is 40.5 meters away at (4.1, 40.3). A unknown object with ID 36 is 51.2 meters away at (7.2, 50.7). A vehicle with ID 35 is 53.7 meters away at (-26.7, 46.6).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 15 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 (3.4, 5.1) m/s. Its current heading (yaw) is 0.99 radians with an angular velocity of 0.99 rad/s.

The most relevant actors are: A unknown object with ID 33 is 20.3 meters away at (-13.0, -15.5). A unknown object with ID 14 is 20.3 meters away at (18.7, 7.8). A unknown object with ID 7 is 20.7 meters away at (-20.7, 0.5). A unknown object with ID 2 is 21.0 meters away at (-21.0, 0.1). A unknown object with ID 25 is 30.1 meters away at (-2.6, 30.0). A vehicle with ID 30 is 38.0 meters away at (-35.9, 12.2). A unknown object with ID 36 is 40.3 meters away at (0.7, 40.3). A vehicle with ID 35 is 49.2 meters away at (-33.3, 36.1). A unknown object with ID 20 is 51.3 meters away at (-45.4, 23.8). A unknown object with ID 16 is 52.0 meters away at (-45.8, 24.8).

The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 25 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 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.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, 3.6) m/s. Its current heading (yaw) is 0.99 radians with an angular velocity of 0.99 rad/s.

The most relevant actors are: A pedestrian with ID 19 is 11.7 meters away at (10.4, -5.2). A unknown object with ID 25 is 22.8 meters away at (-8.6, 21.1). A unknown object with ID 21 is 23.7 meters away at (-10.7, 21.2). A unknown object with ID 7 is 28.0 meters away at (-26.7, -8.4). A unknown object with ID 2 is 28.3 meters away at (-26.9, -8.7). A unknown object with ID 33 is 31.0 meters away at (-19.0, -24.5). A unknown object with ID 36 is 32.0 meters away at (-5.5, 31.5). A vehicle with ID 23 is 41.2 meters away at (-40.6, 7.0). A vehicle with ID 35 is 47.7 meters away at (-39.3, 27.1). A unknown object with ID 26 is 52.5 meters away at (-50.8, 13.2).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [-0.01835823  0.04279166] m/s.The unknown object with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 21 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 2 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.4, -0.5) m/s. Its current heading (yaw) is -2.76 radians with an angular velocity of -2.76 rad/s.

There are no other relevant actors in the scene.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.7, 0.8) m/s. Its current heading (yaw) is 2.72 radians with an angular velocity of 2.72 rad/s.

There are no other relevant actors in the scene.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.8, 2.0) m/s. Its current heading (yaw) is 1.94 radians with an angular velocity of 1.94 rad/s.

There are no other relevant actors in the scene.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 3.0) 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 unknown object with ID 3 is 14.2 meters away at (10.7, -9.3).

The unknown object with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.0, -2.1) m/s. Its current heading (yaw) is -1.12 radians with an angular velocity of -1.12 rad/s.

The most relevant actors are: A vehicle with ID 4 is 9.7 meters away at (-2.3, 9.4). A cyclist with ID 70 is 13.6 meters away at (-4.5, -12.8). A vehicle with ID 71 is 13.9 meters away at (-11.0, 8.5). A vehicle with ID 69 is 14.6 meters away at (-6.6, 13.1). A vehicle with ID 73 is 17.3 meters away at (-12.8, 11.7). A vehicle with ID 74 is 19.4 meters away at (-19.4, 0.8). A vehicle with ID 72 is 20.4 meters away at (-3.8, 20.0). A vehicle with ID 76 is 26.5 meters away at (-26.1, 4.9). A vehicle with ID 77 is 29.9 meters away at (-26.8, -13.4). A vehicle with ID 78 is 30.9 meters away at (-30.8, 2.1).

The vehicle with ID 4 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 [-0.0380402   0.06689404] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-1.9369395 -6.0766115] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.5887505 -4.7240496] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -3.2482364 -11.8803625] m/s.The vehicle with ID 72 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 [2.5819643 8.48718  ] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0.45460436 1.5434632 ] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [2.3404064 8.263764 ] 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, -3.7) m/s. Its current heading (yaw) is -0.80 radians with an angular velocity of -0.80 rad/s.

The most relevant actors are: A cyclist with ID 70 is 10.9 meters away at (-8.9, -6.3). A vehicle with ID 4 is 15.3 meters away at (-6.5, 13.9). A vehicle with ID 71 is 19.5 meters away at (-19.5, 0.2). A vehicle with ID 73 is 21.8 meters away at (-21.0, 5.9). A vehicle with ID 69 is 22.1 meters away at (-11.1, 19.0). A vehicle with ID 72 is 27.7 meters away at (-8.1, 26.4). A vehicle with ID 37 is 29.5 meters away at (-0.2, -29.5). A vehicle with ID 77 is 31.1 meters away at (-30.6, -5.6). A vehicle with ID 82 is 34.0 meters away at (-33.6, -4.6). A vehicle with ID 74 is 34.7 meters away at (-29.4, -18.5).

The cyclist with ID 70 is traveling at a (x, y) velocity of [0.0199363 0.0258878] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 0.34655136 -2.2552314 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [-2.1338482 -8.549836 ] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-1.9922202 -7.4909086] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-0.4715022 -1.2718812] m/s.The vehicle with ID 72 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 [-6.5649028e+00 -2.1261242e-03] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [1.6758558 3.5015817] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [ -2.4077559 -13.61843  ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.2, -3.5) m/s. Its current heading (yaw) is -0.59 radians with an angular velocity of -0.59 rad/s.

The most relevant actors are: A cyclist with ID 70 is 17.9 meters away at (-17.9, 0.6). A vehicle with ID 4 is 19.4 meters away at (-13.4, 14.0). A vehicle with ID 69 is 29.9 meters away at (-22.5, 19.8). A vehicle with ID 37 is 32.1 meters away at (-20.2, -24.9). A vehicle with ID 73 is 34.6 meters away at (-34.3, -4.4). A vehicle with ID 71 is 34.8 meters away at (-32.8, -11.7). A vehicle with ID 18 is 35.4 meters away at (-23.3, 26.6). A vehicle with ID 72 is 36.1 meters away at (-17.9, 31.3). A vehicle with ID 77 is 39.7 meters away at (-39.7, 1.4). A vehicle with ID 82 is 40.8 meters away at (-40.1, 7.2).

The cyclist with ID 70 is traveling at a (x, y) velocity of [-0.00147094 -0.01780919] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [ 2.2468474 -4.140263 ] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [-1.5544093 -4.832432 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-4.4451785 -1.8489146] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [-2.0794463 -9.570453 ] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [ -2.1138694 -10.696342 ] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -4.1067004 -12.163845 ] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-0.8818278 -2.8680549] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0.3139308  0.47941467] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.1) m/s. Its current heading (yaw) is -0.48 radians with an angular velocity of -0.48 rad/s.

The most relevant actors are: A vehicle with ID 4 is 21.2 meters away at (-17.7, 11.6). A pedestrian with ID 56 is 29.1 meters away at (-28.3, 6.6). A pedestrian with ID 44 is 29.9 meters away at (-29.0, 7.0). A cyclist with ID 70 is 29.9 meters away at (-29.1, 7.0). A unknown object with ID 68 is 36.8 meters away at (-22.7, -29.0). A vehicle with ID 69 is 40.0 meters away at (-37.2, 14.8). A vehicle with ID 18 is 42.6 meters away at (-42.2, 5.8). A vehicle with ID 72 is 43.1 meters away at (-32.3, 28.6). A vehicle with ID 37 is 44.2 meters away at (-38.0, -22.4). A pedestrian with ID 1 is 47.2 meters away at (45.9, -10.9).

The vehicle with ID 4 is traveling at a (x, y) velocity of [ 4.671668  -4.3473983] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [ 0.01971466 -0.00563801] m/s.The pedestrian with ID 44 is traveling at a (x, y) velocity of [0.01699342 0.00479513] m/s.The cyclist with ID 70 is traveling at a (x, y) velocity of [0.02880727 0.03443343] m/s.The unknown object with ID 68 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 [-1.6435062 -5.8901815] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [ -3.625295 -15.568364] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [-2.13845   -6.0165668] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [-1.9246229 -2.0943258] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [ 1.64789    -0.65912694] 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, -3.2) m/s. Its current heading (yaw) is -2.12 radians with an angular velocity of -2.12 rad/s.

The most relevant actors are: A vehicle with ID 20 is 17.9 meters away at (12.0, 13.3). A pedestrian with ID 1 is 25.3 meters away at (-8.3, -23.9). A unknown object with ID 5 is 29.9 meters away at (22.6, 19.6). A vehicle with ID 21 is 43.9 meters away at (-30.2, -32.0). A unknown object with ID 24 is 54.6 meters away at (3.3, 54.4). A unknown object with ID 26 is 57.9 meters away at (-42.8, 39.1). A pedestrian with ID 18 is 61.6 meters away at (31.5, 52.9). A vehicle with ID 11 is 74.5 meters away at (-9.5, 73.9).

The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.5176453 -0.9434878] m/s.The unknown object with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.0323442  -0.00677982] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.7247214 -7.201676 ] 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, -2.3) m/s. Its current heading (yaw) is -2.17 radians with an angular velocity of -2.17 rad/s.

The most relevant actors are: A unknown object with ID 15 is 1.7 meters away at (-1.5, 0.8). A unknown object with ID 9 is 7.9 meters away at (-6.8, 4.0). A pedestrian with ID 1 is 21.1 meters away at (-5.9, -20.2). A vehicle with ID 20 is 24.5 meters away at (15.5, 18.9). A vehicle with ID 21 is 37.4 meters away at (-26.5, -26.4). A unknown object with ID 24 is 60.4 meters away at (6.7, 60.1). A vehicle with ID 11 is 66.2 meters away at (5.9, 66.0). A pedestrian with ID 18 is 68.3 meters away at (35.1, 58.5).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 9 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.47940895 -0.8727737 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.0371556 -7.1436353] m/s.The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0048107  0.00734309] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.1, -1.6) m/s. Its current heading (yaw) is -2.18 radians with an angular velocity of -2.18 rad/s.

The most relevant actors are: A pedestrian with ID 1 is 18.7 meters away at (-4.2, -18.3). A vehicle with ID 20 is 29.3 meters away at (18.2, 22.9). A vehicle with ID 21 is 32.7 meters away at (-23.8, -22.4). A vehicle with ID 11 is 61.2 meters away at (22.8, 56.8). A vehicle with ID 17 is 63.5 meters away at (18.7, 60.7). A unknown object with ID 24 is 64.7 meters away at (9.4, 64.0).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.60172915 -0.92434675] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 7.9001155 -6.3577914] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [10.568637 -9.270886] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -0.5) m/s. Its current heading (yaw) is -2.18 radians with an angular velocity of -2.18 rad/s.

The most relevant actors are: A pedestrian with ID 1 is 18.4 meters away at (-4.0, -18.0). A vehicle with ID 21 is 30.2 meters away at (-22.4, -20.3). A vehicle with ID 20 is 31.7 meters away at (19.7, 24.9). A vehicle with ID 11 is 61.8 meters away at (39.9, 47.2). A vehicle with ID 17 is 62.0 meters away at (35.1, 51.1). A unknown object with ID 24 is 67.1 meters away at (10.9, 66.2).

The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.57493615 -1.012909  ] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 8.471527  -5.8393216] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [ 7.8837132 -5.5267406] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.8, 2.3) 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 pedestrian with ID 53 is 14.9 meters away at (-13.4, -6.6). A vehicle with ID 57 is 21.4 meters away at (-12.2, 17.6). A unknown object with ID 54 is 22.9 meters away at (1.2, -22.8). A vehicle with ID 49 is 24.0 meters away at (-15.7, 18.1). A vehicle with ID 26 is 27.7 meters away at (-19.5, 19.7). A vehicle with ID 60 is 32.3 meters away at (-10.7, 30.5). A vehicle with ID 13 is 33.1 meters away at (13.7, 30.1). A vehicle with ID 28 is 33.4 meters away at (31.4, 11.3). A vehicle with ID 38 is 39.2 meters away at (38.2, 8.8). A pedestrian with ID 59 is 39.9 meters away at (-22.0, -33.3).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.79481506 -0.5300874 ] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 54 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [0.42416146 1.2656195 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, 0.9) m/s. Its current heading (yaw) is 1.25 radians with an angular velocity of 1.25 rad/s.

The most relevant actors are: A pedestrian with ID 53 is 17.3 meters away at (-13.5, -10.8). A vehicle with ID 57 is 20.1 meters away at (-13.0, 15.3). A vehicle with ID 49 is 22.8 meters away at (-16.5, 15.8). A vehicle with ID 26 is 26.7 meters away at (-20.3, 17.4). A vehicle with ID 47 is 30.0 meters away at (-23.7, 18.5). A vehicle with ID 60 is 30.5 meters away at (-11.5, 28.3). A vehicle with ID 13 is 30.7 meters away at (12.9, 27.9). A vehicle with ID 28 is 31.9 meters away at (30.6, 9.0). A vehicle with ID 12 is 37.0 meters away at (36.9, 2.7). A vehicle with ID 38 is 37.9 meters away at (37.4, 6.4).

The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.47583166 -1.443509  ] 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.The vehicle with ID 26 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 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [-6.528483  2.370213] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.2, 3.5) 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 57 is 18.2 meters away at (-14.6, 10.9). A vehicle with ID 49 is 21.5 meters away at (-18.1, 11.5). A vehicle with ID 12 is 23.4 meters away at (23.3, 2.8). A pedestrian with ID 53 is 24.0 meters away at (-16.3, -17.6). A vehicle with ID 26 is 25.4 meters away at (-21.9, 12.9). A vehicle with ID 13 is 26.0 meters away at (11.3, 23.4). A vehicle with ID 60 is 27.2 meters away at (-13.1, 23.8). A vehicle with ID 47 is 28.9 meters away at (-25.3, 14.0). A vehicle with ID 28 is 29.2 meters away at (28.9, 4.6). A vehicle with ID 38 is 35.7 meters away at (35.7, 1.9).

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.The vehicle with ID 12 is traveling at a (x, y) velocity of [-5.0816774  1.8671194] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [-0.5122505 -1.0304734] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.8, 5.8) m/s. Its current heading (yaw) is 1.27 radians with an angular velocity of 1.27 rad/s.

The most relevant actors are: A vehicle with ID 12 is 12.7 meters away at (12.1, -3.7). A vehicle with ID 13 is 16.2 meters away at (8.1, 14.1). A vehicle with ID 57 is 17.8 meters away at (-17.8, 1.5). A vehicle with ID 49 is 21.4 meters away at (-21.3, 2.1). A vehicle with ID 60 is 21.7 meters away at (-16.2, 14.5). A vehicle with ID 11 is 24.6 meters away at (-23.1, 8.5). A vehicle with ID 26 is 25.3 meters away at (-25.1, 3.6). A vehicle with ID 10 is 26.1 meters away at (24.9, -7.8). A vehicle with ID 28 is 26.2 meters away at (25.8, -4.8). A vehicle with ID 47 is 28.9 meters away at (-28.5, 4.5).

The vehicle with ID 12 is traveling at a (x, y) velocity of [-2.8593538   0.92325616] m/s.The vehicle with ID 13 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.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [ 5.9806356 -2.1805162] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [-4.5998807  1.8200814] m/s.The vehicle with ID 28 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 (3.9, 9.9) m/s. Its current heading (yaw) is 1.19 radians with an angular velocity of 1.19 rad/s.

The most relevant actors are: A cyclist with ID 44 is 12.7 meters away at (-8.0, -9.9). A cyclist with ID 45 is 16.5 meters away at (-7.5, -14.7). A unknown object with ID 31 is 17.1 meters away at (1.9, 17.0). A vehicle with ID 53 is 20.6 meters away at (20.4, -2.6). A vehicle with ID 47 is 21.8 meters away at (9.7, -19.5). A vehicle with ID 25 is 27.5 meters away at (12.0, 24.8). A vehicle with ID 46 is 31.9 meters away at (7.9, -30.9). A vehicle with ID 24 is 38.4 meters away at (-19.3, -33.2). A vehicle with ID 30 is 49.4 meters away at (34.1, 35.7). A vehicle with ID 52 is 53.9 meters away at (-19.4, -50.2).

The cyclist with ID 44 is traveling at a (x, y) velocity of [ 7.2122455 15.299043 ] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 6.203383 13.801329] m/s.The unknown object with ID 31 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 [ -5.336792 -13.05656 ] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ -7.3126636 -14.730047 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 3.6482604 12.998567 ] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [ -5.377221 -10.320104] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 8.031735 14.541015] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -2.970284 -10.437214] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [6.3272777 9.038523 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.6, 10.5) 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 cyclist with ID 44 is 3.3 meters away at (-3.0, 1.3). A cyclist with ID 45 is 5.6 meters away at (-3.6, -4.3). A unknown object with ID 31 is 6.6 meters away at (-5.8, -3.0). A vehicle with ID 30 is 20.6 meters away at (19.8, -5.8). A vehicle with ID 24 is 27.2 meters away at (-12.5, -24.2). A vehicle with ID 25 is 32.5 meters away at (10.4, 30.8). A vehicle with ID 53 is 47.8 meters away at (1.6, -47.8). A vehicle with ID 52 is 55.9 meters away at (-16.2, -53.5). A vehicle with ID 1 is 56.9 meters away at (-22.9, -52.0). A vehicle with ID 19 is 68.2 meters away at (38.9, 56.0).

The cyclist with ID 44 is traveling at a (x, y) velocity of [ 5.601831 15.745761] m/s.The cyclist with ID 45 is traveling at a (x, y) velocity of [ 4.825988 14.278094] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 30 is traveling at a (x, y) velocity of [ -3.8682938 -10.357364 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 6.3113055 14.863686 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.7183623 13.224481 ] m/s.The vehicle with ID 53 is traveling at a (x, y) velocity of [ -6.1518116 -12.299378 ] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [4.375261  7.7843685] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.080263 15.036038] m/s.The vehicle with ID 19 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, 11.1) m/s. Its current heading (yaw) is 1.32 radians with an angular velocity of 1.32 rad/s.

The most relevant actors are: A cyclist with ID 45 is 6.3 meters away at (-0.2, 6.3). A cyclist with ID 44 is 13.3 meters away at (0.0, 13.3). A vehicle with ID 24 is 17.3 meters away at (-7.8, -15.5). A vehicle with ID 37 is 24.8 meters away at (20.8, 13.5). A vehicle with ID 25 is 37.2 meters away at (9.5, 36.0). A vehicle with ID 1 is 44.4 meters away at (-14.7, -41.9). A vehicle with ID 19 is 48.0 meters away at (32.5, 35.3). A vehicle with ID 30 is 48.5 meters away at (4.6, -48.3). A vehicle with ID 17 is 52.7 meters away at (34.3, 40.0). A unknown object with ID 40 is 53.9 meters away at (33.7, 42.1).

The cyclist with ID 45 is traveling at a (x, y) velocity of [ 3.959716 13.935285] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 4.0999923 16.462528 ] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [ 4.7344737 15.009466 ] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [ -5.0294733 -19.633533 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [ 2.8701756 13.202939 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.5174675 15.769328 ] 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 [ -4.919349 -10.948434] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.3, 10.7) m/s. Its current heading (yaw) is 1.36 radians with an angular velocity of 1.36 rad/s.

The most relevant actors are: A vehicle with ID 24 is 8.3 meters away at (-4.7, -6.8). A cyclist with ID 18 is 18.6 meters away at (3.6, 18.3). A vehicle with ID 33 is 22.1 meters away at (21.7, 4.2). A cyclist with ID 44 is 26.9 meters away at (3.1, 26.8). A vehicle with ID 19 is 30.9 meters away at (27.6, 14.0). A vehicle with ID 1 is 32.8 meters away at (-8.2, -31.7). A vehicle with ID 17 is 34.8 meters away at (29.4, 18.6). A unknown object with ID 40 is 35.6 meters away at (28.8, 20.9). A unknown object with ID 42 is 37.0 meters away at (29.7, 22.1). A unknown object with ID 12 is 41.9 meters away at (33.2, 25.5).

The vehicle with ID 24 is traveling at a (x, y) velocity of [ 3.5495174 15.150102 ] m/s.The cyclist with ID 18 is traveling at a (x, y) velocity of [ 3.7620084 15.128272 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [ -4.0346704 -16.580893 ] m/s.The cyclist with ID 44 is traveling at a (x, y) velocity of [ 3.7771268 17.032013 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 4.7762814 15.644241 ] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.5, 2.2) m/s. Its current heading (yaw) is 2.16 radians with an angular velocity of 2.16 rad/s.

The most relevant actors are: A vehicle with ID 20 is 11.2 meters away at (3.2, -10.7). A unknown object with ID 14 is 18.5 meters away at (-17.3, 6.6). A vehicle with ID 2 is 55.7 meters away at (38.3, 40.4).

The vehicle with ID 20 is traveling at a (x, y) velocity of [4.316437 9.225092] m/s.The unknown object with ID 14 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 [ -6.0905733 -11.690307 ] 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, 0.9) m/s. Its current heading (yaw) is 2.84 radians with an angular velocity of 2.84 rad/s.

The most relevant actors are: A vehicle with ID 20 is 17.3 meters away at (16.6, 4.8). A vehicle with ID 2 is 34.8 meters away at (31.4, 14.9). A pedestrian with ID 9 is 35.4 meters away at (-34.9, -5.8).

The vehicle with ID 20 is traveling at a (x, y) velocity of [4.4888444 9.490813 ] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ -5.4243126 -11.058106 ] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.0299249  -0.00825972] 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, -0.9) m/s. Its current heading (yaw) is -2.85 radians with an angular velocity of -2.85 rad/s.

The most relevant actors are: A vehicle with ID 2 is 27.9 meters away at (27.0, -7.0). A pedestrian with ID 9 is 29.4 meters away at (-28.8, -5.7). A vehicle with ID 20 is 38.5 meters away at (31.2, 22.6). A vehicle with ID 19 is 64.0 meters away at (-9.4, -63.3).

The vehicle with ID 2 is traveling at a (x, y) velocity of [ -4.948612 -10.655174] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [0.03721093 0.02273519] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.997717 8.34879 ] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.717337 11.385378] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -2.1) m/s. Its current heading (yaw) is -2.35 radians with an angular velocity of -2.35 rad/s.

The most relevant actors are: A unknown object with ID 11 is 2.1 meters away at (0.9, -1.9). A unknown object with ID 18 is 2.2 meters away at (0.3, -2.2). A pedestrian with ID 4 is 16.8 meters away at (2.5, 16.7). A unknown object with ID 8 is 26.0 meters away at (-25.1, -7.0). A unknown object with ID 12 is 31.8 meters away at (-26.1, -18.1). A vehicle with ID 2 is 33.9 meters away at (22.4, -25.4). A vehicle with ID 19 is 37.9 meters away at (5.1, -37.6). A vehicle with ID 20 is 59.7 meters away at (43.7, 40.6).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [-0.01165079  0.00034168] 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 12 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 [ -4.596089  -10.8004675] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [ 4.436191 10.654369] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [3.575885  6.7529826] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (1.1, 2.4) m/s. Its current heading (yaw) is 1.13 radians with an angular velocity of 1.13 rad/s.

The most relevant actors are: A pedestrian with ID 24 is 11.6 meters away at (-10.3, -5.3). A pedestrian with ID 25 is 15.9 meters away at (-9.3, -12.8). A pedestrian with ID 26 is 16.1 meters away at (-9.0, -13.3). A unknown object with ID 31 is 16.2 meters away at (15.4, 5.1). A unknown object with ID 30 is 19.2 meters away at (13.3, -13.8). A unknown object with ID 14 is 19.7 meters away at (11.5, -16.0). A pedestrian with ID 29 is 20.3 meters away at (7.1, -19.0). A vehicle with ID 22 is 25.5 meters away at (-8.0, 24.2). A vehicle with ID 10 is 31.1 meters away at (-19.8, 24.0). A vehicle with ID 21 is 31.4 meters away at (-13.3, 28.5).

The pedestrian with ID 24 is traveling at a (x, y) velocity of [0.01685805 0.02015379] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [0.01880012 0.01217232] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.00727782 0.00884551] 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 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.08180446 -0.11659914] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, 3.1) m/s. Its current heading (yaw) is 1.71 radians with an angular velocity of 1.71 rad/s.

The most relevant actors are: A unknown object with ID 11 is 5.9 meters away at (-5.0, 3.1). A unknown object with ID 31 is 14.6 meters away at (14.6, -0.0). A pedestrian with ID 24 is 15.1 meters away at (-11.1, -10.3). A pedestrian with ID 25 is 20.5 meters away at (-10.2, -17.8). A pedestrian with ID 26 is 20.9 meters away at (-9.9, -18.3). A vehicle with ID 22 is 21.0 meters away at (-8.8, 19.1). A unknown object with ID 30 is 22.7 meters away at (12.4, -19.0). A pedestrian with ID 29 is 24.8 meters away at (5.8, -24.1). A vehicle with ID 21 is 27.3 meters away at (-14.0, 23.5). A vehicle with ID 10 is 28.3 meters away at (-20.8, 19.2).

The unknown object with ID 11 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 pedestrian with ID 24 is traveling at a (x, y) velocity of [-0.00237773  0.01092166] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [-0.01131875  0.03276359] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00505863 -0.00675399] m/s.The vehicle with ID 22 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.13712268 -0.20740876] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.8, 2.3) m/s. Its current heading (yaw) is 2.23 radians with an angular velocity of 2.23 rad/s.

The most relevant actors are: A unknown object with ID 11 is 3.5 meters away at (-2.8, -2.2). A vehicle with ID 22 is 15.3 meters away at (-6.5, 13.8). A pedestrian with ID 18 is 17.1 meters away at (1.0, -17.1). A unknown object with ID 31 is 17.7 meters away at (16.9, -5.2). A vehicle with ID 21 is 21.6 meters away at (-11.7, 18.2). A vehicle with ID 10 is 23.1 meters away at (-18.4, 14.0). A pedestrian with ID 25 is 24.4 meters away at (-7.9, -23.1). A pedestrian with ID 26 is 24.7 meters away at (-7.6, -23.5). A unknown object with ID 30 is 28.4 meters away at (14.8, -24.2). A unknown object with ID 16 is 29.4 meters away at (12.9, -26.4).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 18 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 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.00070717 -0.01227848] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00266136 -0.00659044] m/s.The unknown object with ID 30 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, 2.3) m/s. Its current heading (yaw) is 2.33 radians with an angular velocity of 2.33 rad/s.

The most relevant actors are: A unknown object with ID 11 is 6.8 meters away at (1.4, -6.7). A vehicle with ID 22 is 9.6 meters away at (-2.5, 9.3). A vehicle with ID 21 is 15.7 meters away at (-7.7, 13.6). A vehicle with ID 10 is 17.2 meters away at (-14.4, 9.4). A unknown object with ID 31 is 23.1 meters away at (20.9, -9.7). A pedestrian with ID 25 is 27.9 meters away at (-3.8, -27.6). A vehicle with ID 1 is 28.1 meters away at (-22.9, 16.3). A pedestrian with ID 26 is 28.3 meters away at (-3.5, -28.1). A vehicle with ID 23 is 30.4 meters away at (-19.3, 23.5). A unknown object with ID 30 is 34.4 meters away at (18.9, -28.7).

The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 10 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 pedestrian with ID 25 is traveling at a (x, y) velocity of [ 0.02553564 -0.00034594] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.00342919 -0.0069906 ] m/s.The vehicle with ID 23 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.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.6, 3.1) 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 unknown object with ID 77 is 5.2 meters away at (3.4, 3.9). A vehicle with ID 81 is 7.0 meters away at (-5.5, -4.4). A unknown object with ID 87 is 12.8 meters away at (-6.9, -10.7). A unknown object with ID 94 is 13.5 meters away at (-11.5, -7.0). A unknown object with ID 73 is 14.5 meters away at (-13.7, -4.9). A unknown object with ID 84 is 18.6 meters away at (17.5, 6.1). A vehicle with ID 29 is 18.8 meters away at (8.9, -16.5). A unknown object with ID 98 is 22.3 meters away at (-1.7, -22.3). A unknown object with ID 99 is 22.9 meters away at (-1.7, -22.8). A unknown object with ID 101 is 23.2 meters away at (-1.4, -23.1).

The unknown object with ID 77 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 unknown object with ID 87 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-0.54580337  4.2191057 ] m/s.The unknown object with ID 98 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 99 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.4, 3.9) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A vehicle with ID 81 is 12.0 meters away at (3.3, -11.6). A unknown object with ID 78 is 12.3 meters away at (-9.2, -8.1). A unknown object with ID 39 is 12.3 meters away at (-7.0, -10.1). A unknown object with ID 45 is 12.9 meters away at (-11.4, -6.1). A unknown object with ID 73 is 13.1 meters away at (-4.7, -12.2). A unknown object with ID 58 is 14.1 meters away at (-13.5, -4.0). A unknown object with ID 94 is 14.5 meters away at (-2.6, -14.3). A unknown object with ID 59 is 14.6 meters away at (-1.8, -14.5). A unknown object with ID 44 is 16.0 meters away at (-15.9, -1.9). A unknown object with ID 42 is 16.3 meters away at (-0.3, -16.3).

The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 44 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.6, 3.4) m/s. Its current heading (yaw) is 2.39 radians with an angular velocity of 2.39 rad/s.

The most relevant actors are: A vehicle with ID 82 is 13.7 meters away at (-12.1, -6.5). A unknown object with ID 45 is 14.0 meters away at (-3.1, -13.7). A unknown object with ID 78 is 15.8 meters away at (-0.9, -15.8). A unknown object with ID 39 is 17.9 meters away at (1.3, -17.8). A unknown object with ID 73 is 20.2 meters away at (3.5, -19.9). A vehicle with ID 29 is 21.5 meters away at (15.5, -14.8). A vehicle with ID 81 is 22.4 meters away at (11.6, -19.2). A unknown object with ID 94 is 22.6 meters away at (5.7, -21.9). A vehicle with ID 18 is 23.0 meters away at (-22.1, -6.2). A unknown object with ID 59 is 23.1 meters away at (6.4, -22.2).

The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.8660371  3.7831159] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 94 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.3, 3.0) m/s. Its current heading (yaw) is 2.41 radians with an angular velocity of 2.41 rad/s.

The most relevant actors are: A vehicle with ID 82 is 14.1 meters away at (-4.8, -13.2). A vehicle with ID 18 is 19.7 meters away at (-14.8, -13.1). A pedestrian with ID 1 is 20.3 meters away at (-5.3, 19.6). A vehicle with ID 29 is 21.0 meters away at (15.3, -14.4). A vehicle with ID 38 is 24.2 meters away at (-17.2, 17.1). A vehicle with ID 69 is 26.8 meters away at (-18.6, -19.3). A vehicle with ID 83 is 29.4 meters away at (-28.2, 8.2). A vehicle with ID 50 is 32.0 meters away at (-21.4, -23.8). A unknown object with ID 59 is 32.1 meters away at (13.8, -29.0). A vehicle with ID 81 is 32.3 meters away at (19.0, -26.1).

The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 1 is traveling at a (x, y) velocity of [-0.91241246 -1.2148329 ] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.6493063  3.3908355] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 69 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 83 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 unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.3, 1.8) 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 pedestrian with ID 17 is 18.5 meters away at (-16.8, -7.8). A pedestrian with ID 11 is 19.4 meters away at (-17.5, -8.3). A pedestrian with ID 7 is 19.5 meters away at (-18.0, -7.5). A vehicle with ID 47 is 20.1 meters away at (18.9, 6.9). A vehicle with ID 58 is 20.6 meters away at (-7.8, 19.1). A vehicle with ID 74 is 24.9 meters away at (-22.6, 10.6). A vehicle with ID 44 is 28.1 meters away at (26.9, 8.0). A pedestrian with ID 53 is 29.3 meters away at (7.8, 28.2). A vehicle with ID 50 is 32.8 meters away at (-32.6, -3.1). A vehicle with ID 56 is 33.3 meters away at (-31.6, -10.4).

The pedestrian with ID 17 is traveling at a (x, y) velocity of [1.0784479  0.35149008] m/s.The pedestrian with ID 11 is traveling at a (x, y) velocity of [1.0180233 0.3133615] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [1.0268912 0.3844515] m/s.The vehicle with ID 47 is traveling at a (x, y) velocity of [ 8.232595  -3.7219234] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [ 7.0488834 -3.0599132] m/s.The vehicle with ID 74 is traveling at a (x, y) velocity of [-0.9636255 -5.564337 ] m/s.The vehicle with ID 44 is traveling at a (x, y) velocity of [2.3773682 1.4677287] m/s.The pedestrian with ID 53 is traveling at a (x, y) velocity of [ 0.33044738 -0.54318243] m/s.The vehicle with ID 50 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 [-3.9041138 -8.985763 ] m/s.

Instruction: Slight right turn approaching.