The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.2, -2.5) m/s. Its current heading (yaw) is -2.27 radians with an angular velocity of -2.27 rad/s.

The most relevant actors are: A vehicle with ID 22 is 8.8 meters away at (7.5, -4.7). A vehicle with ID 21 is 9.1 meters away at (4.1, -8.1). A vehicle with ID 23 is 9.1 meters away at (0.2, 9.1). A vehicle with ID 20 is 13.9 meters away at (12.0, 7.0). A vehicle with ID 24 is 15.4 meters away at (4.9, 14.6). A vehicle with ID 25 is 17.7 meters away at (6.6, 16.4). A cyclist with ID 64 is 18.0 meters away at (2.1, -17.8). A vehicle with ID 26 is 18.6 meters away at (15.0, 11.0). A vehicle with ID 1 is 18.8 meters away at (11.2, 15.1). A vehicle with ID 39 is 19.8 meters away at (-4.6, 19.3).

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 23 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 24 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 cyclist with ID 64 is traveling at a (x, y) velocity of [-2.3063264 -1.5108739] m/s.The vehicle with ID 26 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 [-3.1908004 -3.784165 ] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.3, -0.3) m/s. Its current heading (yaw) is -2.34 radians with an angular velocity of -2.34 rad/s.

The most relevant actors are: A vehicle with ID 21 is 8.4 meters away at (6.7, -5.1). A vehicle with ID 22 is 10.2 meters away at (10.1, -1.7). A vehicle with ID 23 is 12.4 meters away at (2.7, 12.1). A vehicle with ID 1 is 14.0 meters away at (8.2, 11.4). A cyclist with ID 64 is 15.4 meters away at (0.6, -15.4). A vehicle with ID 20 is 17.7 meters away at (14.6, 10.0). A vehicle with ID 24 is 19.1 meters away at (7.5, 17.6). A vehicle with ID 25 is 21.5 meters away at (9.3, 19.4). A vehicle with ID 39 is 22.3 meters away at (-2.0, 22.2). A vehicle with ID 26 is 22.5 meters away at (17.6, 14.0).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-2.1168618 -2.519449 ] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [-1.4769164  -0.18028955] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, -0.0) m/s. Its current heading (yaw) is -2.34 radians with an angular velocity of -2.34 rad/s.

The most relevant actors are: A vehicle with ID 21 is 8.4 meters away at (6.8, -5.0). A vehicle with ID 22 is 10.3 meters away at (10.2, -1.5). A vehicle with ID 1 is 10.4 meters away at (5.9, 8.6). A vehicle with ID 23 is 12.6 meters away at (2.9, 12.3). A cyclist with ID 64 is 15.1 meters away at (0.3, -15.1). A vehicle with ID 13 is 17.2 meters away at (-8.9, -14.7). A vehicle with ID 20 is 17.9 meters away at (14.8, 10.2). A vehicle with ID 24 is 19.3 meters away at (7.7, 17.7). A vehicle with ID 25 is 21.6 meters away at (9.4, 19.5). A vehicle with ID 39 is 22.5 meters away at (-1.8, 22.4).

The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [-0.67141825 -0.8099897 ] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 64 is traveling at a (x, y) velocity of [0.03220956 0.00496251] m/s.The vehicle with ID 13 is traveling at a (x, y) velocity of [0.18247314 5.3630676 ] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 7.1) m/s. Its current heading (yaw) is 2.30 radians with an angular velocity of 2.30 rad/s.

The most relevant actors are: A vehicle with ID 87 is 7.0 meters away at (-6.4, -2.8). A pedestrian with ID 79 is 9.8 meters away at (2.0, 9.6). A pedestrian with ID 61 is 10.6 meters away at (10.5, -1.3). A vehicle with ID 91 is 12.9 meters away at (-12.9, -0.3). A vehicle with ID 58 is 15.2 meters away at (8.0, -12.9). A pedestrian with ID 86 is 16.2 meters away at (-14.6, -7.0). A vehicle with ID 75 is 16.4 meters away at (6.1, -15.2). A pedestrian with ID 59 is 18.1 meters away at (16.0, -8.5). A vehicle with ID 82 is 18.6 meters away at (-11.8, -14.4). A vehicle with ID 95 is 18.9 meters away at (-16.3, 9.7).

The vehicle with ID 87 is traveling at a (x, y) velocity of [ 4.2911124 -5.236256 ] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [-1.1317683  1.3829744] m/s.The pedestrian with ID 61 is traveling at a (x, y) velocity of [-0.8541312  1.115527 ] m/s.The vehicle with ID 91 is traveling at a (x, y) velocity of [ 4.039283  -5.0744166] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.7817972 -0.3615774] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [ 6.2377996 -4.591151 ] m/s.The pedestrian with ID 59 is traveling at a (x, y) velocity of [-0.10255749  0.09304986] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [-1.8708547 -4.9662848] m/s.The vehicle with ID 95 is traveling at a (x, y) velocity of [ 3.6509595 -5.0705795] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, 8.3) m/s. Its current heading (yaw) is 2.22 radians with an angular velocity of 2.22 rad/s.

The most relevant actors are: A vehicle with ID 93 is 5.7 meters away at (0.2, 5.7). A vehicle with ID 103 is 11.3 meters away at (-4.5, -10.4). A vehicle with ID 113 is 13.2 meters away at (-13.1, 1.0). A pedestrian with ID 79 is 14.0 meters away at (13.7, -2.8). A unknown object with ID 24 is 16.2 meters away at (-13.3, -9.2). A vehicle with ID 95 is 16.7 meters away at (4.1, -16.2). A pedestrian with ID 100 is 18.5 meters away at (-18.5, 1.5). A vehicle with ID 101 is 20.5 meters away at (-9.1, 18.3). A pedestrian with ID 86 is 22.5 meters away at (-1.2, -22.5). A unknown object with ID 46 is 22.8 meters away at (-16.2, -16.0).

The vehicle with ID 93 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 [ 3.4179678 -4.56879  ] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [ 3.63305   -4.9604807] m/s.The pedestrian with ID 79 is traveling at a (x, y) velocity of [0.15766609 1.4888899 ] m/s.The unknown object with ID 24 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 [ 3.833235 -5.022387] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.7445515 -1.0342859] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 86 is traveling at a (x, y) velocity of [ 0.0090927  -0.00314655] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.6, 8.7) m/s. Its current heading (yaw) is 2.22 radians with an angular velocity of 2.22 rad/s.

The most relevant actors are: A vehicle with ID 101 is 3.8 meters away at (3.7, 1.2). A vehicle with ID 36 is 5.7 meters away at (0.6, 5.7). A vehicle with ID 29 is 9.5 meters away at (-7.6, -5.7). A vehicle with ID 23 is 10.9 meters away at (-3.1, 10.5). A vehicle with ID 51 is 16.6 meters away at (-6.7, 15.2). A vehicle with ID 93 is 17.3 meters away at (13.0, -11.5). A pedestrian with ID 100 is 18.5 meters away at (-3.9, -18.0). A vehicle with ID 19 is 22.6 meters away at (-10.4, 20.1). A vehicle with ID 113 is 26.2 meters away at (6.6, -25.4). A vehicle with ID 16 is 28.7 meters away at (-13.8, 25.2).

The vehicle with ID 101 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 29 is traveling at a (x, y) velocity of [ 4.51098   -6.0936456] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 93 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 100 is traveling at a (x, y) velocity of [ 0.6942193 -1.0176008] m/s.The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 113 is traveling at a (x, y) velocity of [ 3.1190066 -4.0940714] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.0, 8.2) 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 vehicle with ID 19 is 3.8 meters away at (2.0, 3.3). A vehicle with ID 51 is 5.8 meters away at (5.6, -1.6). A vehicle with ID 16 is 8.5 meters away at (-1.4, 8.4). A vehicle with ID 23 is 11.2 meters away at (9.2, -6.4). A vehicle with ID 15 is 13.3 meters away at (-4.4, 12.5). A vehicle with ID 36 is 17.0 meters away at (12.8, -11.1). A vehicle with ID 14 is 18.3 meters away at (-7.6, 16.7). A vehicle with ID 101 is 22.4 meters away at (16.0, -15.7). A pedestrian with ID 6 is 29.6 meters away at (-11.9, 27.1). A vehicle with ID 5 is 31.0 meters away at (18.3, -25.0).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 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 15 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 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 101 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.00917908 0.0134107 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [-7.1518793  9.267755 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.9, -6.5) m/s. Its current heading (yaw) is -1.86 radians with an angular velocity of -1.86 rad/s.

The most relevant actors are: A unknown object with ID 59 is 12.1 meters away at (9.7, -7.3). A vehicle with ID 58 is 14.6 meters away at (-13.0, 6.6). A vehicle with ID 60 is 17.1 meters away at (-16.8, 3.3). A vehicle with ID 62 is 22.9 meters away at (-20.9, 9.5). A vehicle with ID 63 is 23.0 meters away at (21.3, -8.6). A pedestrian with ID 70 is 25.7 meters away at (-10.2, -23.7). A pedestrian with ID 69 is 26.0 meters away at (-9.6, -24.1). A vehicle with ID 26 is 28.8 meters away at (-11.2, -26.6). A vehicle with ID 64 is 30.5 meters away at (28.5, -11.0). A vehicle with ID 67 is 32.8 meters away at (-31.8, 8.3).

The unknown object with ID 59 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.04800511  0.00776966] m/s.The pedestrian with ID 69 is traveling at a (x, y) velocity of [-0.17693435 -0.10054319] m/s.The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 67 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.9) m/s. Its current heading (yaw) is -1.85 radians with an angular velocity of -1.85 rad/s.

The most relevant actors are: A pedestrian with ID 70 is 12.1 meters away at (-6.6, -10.1). A unknown object with ID 59 is 14.7 meters away at (13.3, 6.4). A vehicle with ID 26 is 15.0 meters away at (-7.5, -13.0). A vehicle with ID 60 is 21.4 meters away at (-13.2, 16.8). A vehicle with ID 58 is 22.2 meters away at (-9.3, 20.1). A vehicle with ID 17 is 23.5 meters away at (-10.3, -21.1). A vehicle with ID 63 is 25.4 meters away at (25.0, 4.9). A vehicle with ID 56 is 25.5 meters away at (-2.7, -25.4). A unknown object with ID 55 is 28.1 meters away at (-4.4, -27.8). A vehicle with ID 62 is 28.6 meters away at (-17.1, 23.0).

The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.07175986  0.02208643] m/s.The unknown object with ID 59 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 58 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 63 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 62 is traveling at a (x, y) velocity of [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 (-2.5, -6.8) m/s. Its current heading (yaw) is -1.92 radians with an angular velocity of -1.92 rad/s.

The most relevant actors are: A vehicle with ID 26 is 3.5 meters away at (-3.4, 0.8). A pedestrian with ID 70 is 4.3 meters away at (-2.4, 3.6). A vehicle with ID 17 is 9.5 meters away at (-6.2, -7.3). A vehicle with ID 56 is 11.7 meters away at (1.4, -11.6). A unknown object with ID 55 is 14.0 meters away at (-0.3, -14.0). A vehicle with ID 38 is 22.2 meters away at (-21.3, -6.3). A vehicle with ID 81 is 24.3 meters away at (-17.1, -17.2). A vehicle with ID 28 is 26.5 meters away at (-11.5, -23.9). A vehicle with ID 45 is 26.6 meters away at (-21.4, -15.8). A vehicle with ID 57 is 31.2 meters away at (-4.4, -30.8).

The vehicle with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 70 is traveling at a (x, y) velocity of [-0.05906776 -0.05851626] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 55 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 81 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 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 57 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.3) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A unknown object with ID 55 is 4.3 meters away at (4.2, -0.7). A vehicle with ID 17 is 6.1 meters away at (-1.8, 5.8). A vehicle with ID 56 is 6.2 meters away at (5.9, 1.7). A vehicle with ID 28 is 12.8 meters away at (-7.1, -10.7). A vehicle with ID 81 is 13.2 meters away at (-12.5, -4.1). A vehicle with ID 26 is 14.1 meters away at (1.1, 14.1). A vehicle with ID 45 is 17.1 meters away at (-16.9, -2.6). A vehicle with ID 57 is 17.6 meters away at (0.1, -17.6). A vehicle with ID 38 is 18.1 meters away at (-16.8, 7.0). A vehicle with ID 27 is 18.2 meters away at (-8.4, -16.1).

The unknown object with ID 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 56 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 81 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 45 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 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 0.5) m/s. Its current heading (yaw) is 3.01 radians with an angular velocity of 3.01 rad/s.

The most relevant actors are: A vehicle with ID 35 is 3.8 meters away at (-0.8, 3.7). A vehicle with ID 17 is 8.2 meters away at (-6.2, 5.5). A vehicle with ID 37 is 9.5 meters away at (-8.5, -4.2). A vehicle with ID 34 is 14.1 meters away at (-12.0, 7.4). A vehicle with ID 36 is 14.6 meters away at (-14.5, -2.1). A unknown object with ID 46 is 19.5 meters away at (-7.0, -18.2). A vehicle with ID 15 is 20.6 meters away at (-18.3, 9.5). A unknown object with ID 47 is 22.5 meters away at (-8.1, -21.0). A vehicle with ID 16 is 26.6 meters away at (-23.9, 11.7). A pedestrian with ID 48 is 32.8 meters away at (32.4, -5.1).

The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 47 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [ 1.2040622  -0.48121756] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.0, 1.8) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A vehicle with ID 17 is 3.9 meters away at (2.4, 3.1). A vehicle with ID 34 is 6.1 meters away at (-3.4, 5.0). A vehicle with ID 37 is 6.6 meters away at (0.1, -6.6). A vehicle with ID 36 is 7.3 meters away at (-5.8, -4.5). A vehicle with ID 35 is 7.9 meters away at (7.7, 1.4). A vehicle with ID 15 is 12.0 meters away at (-9.6, 7.2). A vehicle with ID 16 is 17.8 meters away at (-15.1, 9.3). A unknown object with ID 31 is 20.5 meters away at (10.7, -17.5). A unknown object with ID 46 is 20.7 meters away at (1.6, -20.6). A vehicle with ID 33 is 24.8 meters away at (-21.8, 11.8).

The vehicle with ID 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 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 vehicle 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 [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 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.1, 1.9) 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 vehicle with ID 15 is 3.4 meters away at (0.4, 3.4). A vehicle with ID 34 is 6.8 meters away at (6.7, 1.3). A vehicle with ID 16 is 7.3 meters away at (-4.8, 5.5). A vehicle with ID 36 is 9.3 meters away at (4.3, -8.2). A vehicle with ID 17 is 12.7 meters away at (12.6, -0.7). A vehicle with ID 33 is 14.0 meters away at (-11.5, 8.0). A vehicle with ID 37 is 14.6 meters away at (10.3, -10.4). A vehicle with ID 35 is 18.2 meters away at (18.1, -2.5). A vehicle with ID 41 is 29.9 meters away at (-29.5, -5.2). A unknown object with ID 19 is 32.0 meters away at (-31.9, -2.5).

The vehicle with ID 15 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 16 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 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 unknown object with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.5, 1.7) m/s. Its current heading (yaw) is 2.78 radians with an angular velocity of 2.78 rad/s.

The most relevant actors are: A vehicle with ID 16 is 4.8 meters away at (4.4, 1.9). A vehicle with ID 33 is 4.9 meters away at (-2.2, 4.4). A vehicle with ID 15 is 9.7 meters away at (9.7, -0.3). A vehicle with ID 34 is 16.3 meters away at (16.1, -2.4). A vehicle with ID 36 is 18.1 meters away at (13.7, -11.9). A vehicle with ID 41 is 21.9 meters away at (-20.1, -8.8). A vehicle with ID 17 is 22.4 meters away at (22.0, -4.4). A vehicle with ID 37 is 24.2 meters away at (19.7, -14.0). A vehicle with ID 35 is 28.2 meters away at (27.6, -6.2). A pedestrian with ID 4 is 40.0 meters away at (-39.9, 2.0).

The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 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 36 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 17 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 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 [ 0.23433729 -1.0348247 ] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.8, 3.3) m/s. Its current heading (yaw) is 2.69 radians with an angular velocity of 2.69 rad/s.

The most relevant actors are: A vehicle with ID 104 is 7.3 meters away at (3.9, -6.1). A cyclist with ID 106 is 8.7 meters away at (8.0, 3.3). A cyclist with ID 107 is 9.1 meters away at (6.9, 5.9). A vehicle with ID 118 is 12.1 meters away at (-11.3, -4.4). A pedestrian with ID 110 is 14.9 meters away at (-10.2, 10.8). A vehicle with ID 11 is 15.8 meters away at (13.0, -9.0). A vehicle with ID 102 is 18.5 meters away at (17.0, -7.3). A vehicle with ID 108 is 21.3 meters away at (11.9, -17.6). A vehicle with ID 112 is 25.9 meters away at (6.5, 25.1). A vehicle with ID 117 is 26.6 meters away at (-26.6, -2.2).

The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 106 is traveling at a (x, y) velocity of [ 3.095623  -2.4103868] m/s.The cyclist with ID 107 is traveling at a (x, y) velocity of [ 1.640941  -1.2184389] m/s.The vehicle with ID 118 is traveling at a (x, y) velocity of [ 8.797759 -4.859711] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.00118675 -0.08510783] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-6.417376   5.4168777] m/s.The vehicle with ID 102 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 [ 9.689691  -7.2699285] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.6, 2.5) m/s. Its current heading (yaw) is 2.83 radians with an angular velocity of 2.83 rad/s.

The most relevant actors are: A pedestrian with ID 110 is 6.7 meters away at (4.2, 5.2). A vehicle with ID 117 is 14.3 meters away at (-12.0, -7.8). A vehicle with ID 11 is 15.2 meters away at (14.3, -5.3). A vehicle with ID 92 is 16.5 meters away at (-16.4, -2.2). A vehicle with ID 123 is 17.7 meters away at (-15.2, 9.1). A vehicle with ID 122 is 19.9 meters away at (-19.2, -5.4). A vehicle with ID 104 is 22.0 meters away at (18.5, -11.8). A vehicle with ID 126 is 24.1 meters away at (-21.4, 11.2). A vehicle with ID 125 is 24.9 meters away at (-24.6, -3.5). A pedestrian with ID 114 is 25.3 meters away at (-6.7, -24.4).

The pedestrian with ID 110 is traveling at a (x, y) velocity of [-0.02832119 -0.01605114] m/s.The vehicle with ID 117 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 [-7.1124787  3.4046376] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 8.460083  -3.3017976] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 104 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [0.5613794 1.178332 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.5, 2.9) m/s. Its current heading (yaw) is 2.81 radians with an angular velocity of 2.81 rad/s.

The most relevant actors are: A vehicle with ID 123 is 3.9 meters away at (0.6, 3.8). A vehicle with ID 126 is 8.0 meters away at (-5.4, 5.9). A vehicle with ID 72 is 8.4 meters away at (-6.8, -4.9). A vehicle with ID 122 is 11.1 meters away at (-3.3, -10.6). A vehicle with ID 125 is 12.3 meters away at (-8.6, -8.8). A vehicle with ID 117 is 13.7 meters away at (4.0, -13.1). A vehicle with ID 11 is 16.8 meters away at (15.9, -5.4). A pedestrian with ID 110 is 20.2 meters away at (20.2, -0.1). A vehicle with ID 92 is 22.8 meters away at (17.5, -14.7). A pedestrian with ID 114 is 29.2 meters away at (10.3, -27.3).

The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 72 is traveling at a (x, y) velocity of [ 8.3441305 -2.8819616] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-7.2425075  2.3665755] m/s.The pedestrian with ID 110 is traveling at a (x, y) velocity of [ 0.0148009  -0.00200624] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [ 9.035499  -3.8932936] m/s.The pedestrian with ID 114 is traveling at a (x, y) velocity of [0.5638116 1.1750898] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.8, 3.2) m/s. Its current heading (yaw) is 2.80 radians with an angular velocity of 2.80 rad/s.

The most relevant actors are: A vehicle with ID 46 is 7.4 meters away at (4.9, -5.5). A vehicle with ID 126 is 12.1 meters away at (12.1, -0.2). A vehicle with ID 66 is 13.7 meters away at (-12.2, -6.2). A vehicle with ID 125 is 17.5 meters away at (9.0, -15.0). A vehicle with ID 123 is 18.5 meters away at (18.4, -2.3). A vehicle with ID 11 is 19.6 meters away at (18.4, -6.7). A vehicle with ID 35 is 20.6 meters away at (-20.0, -5.3). A vehicle with ID 122 is 22.2 meters away at (14.5, -16.8). A vehicle with ID 78 is 25.5 meters away at (-25.3, -3.2). A vehicle with ID 117 is 29.0 meters away at (21.7, -19.2).

The vehicle with ID 46 is traveling at a (x, y) velocity of [ 7.3463483 -2.336705 ] m/s.The vehicle with ID 126 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 66 is traveling at a (x, y) velocity of [1.4184244 0.4403599] m/s.The vehicle with ID 125 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 123 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-8.21813    2.7578087] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 122 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 117 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.6, -0.2) m/s. Its current heading (yaw) is -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 12.1 meters away at (9.8, 7.2). A unknown object with ID 11 is 37.1 meters away at (13.5, 34.6). A vehicle with ID 23 is 54.5 meters away at (-25.8, -48.0). A vehicle with ID 29 is 57.0 meters away at (-46.5, 33.0). A vehicle with ID 24 is 57.3 meters away at (-40.2, 40.8). A pedestrian with ID 26 is 60.7 meters away at (-30.4, -52.6). A pedestrian with ID 25 is 61.4 meters away at (-33.7, -51.3). A pedestrian with ID 27 is 62.1 meters away at (-34.4, -51.7). A pedestrian with ID 28 is 72.0 meters away at (-54.8, -46.7). A pedestrian with ID 15 is 77.6 meters away at (6.4, 77.3).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 11 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 1.3948799  -0.17088988] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.294229 -0.529874] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.283788   -0.47028697] m/s.The pedestrian with ID 28 is traveling at a (x, y) velocity of [ 0.8736685  -0.93919176] m/s.The pedestrian with ID 15 is traveling at a (x, y) velocity of [0.38137946 0.77883714] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.2, -0.0) m/s. Its current heading (yaw) is -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 12.7 meters away at (10.3, 7.4). A vehicle with ID 23 is 54.2 meters away at (-25.3, -47.9). A vehicle with ID 29 is 56.6 meters away at (-45.9, 33.1). A vehicle with ID 24 is 57.0 meters away at (-39.6, 41.0). A pedestrian with ID 25 is 60.3 meters away at (-30.6, -52.0). A pedestrian with ID 27 is 61.3 meters away at (-31.3, -52.7).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.0700239 0.0236649] m/s.The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 25 is traveling at a (x, y) velocity of [ 1.2838975  -0.20235758] m/s.The pedestrian with ID 27 is traveling at a (x, y) velocity of [ 1.3503577 -0.2549453] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.4, -0.7) 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 23 is 52.3 meters away at (-22.8, -47.1). A vehicle with ID 29 is 54.9 meters away at (-43.1, 34.1). A pedestrian with ID 16 is 55.2 meters away at (-21.3, -50.9). A vehicle with ID 24 is 55.7 meters away at (-36.9, 41.8). A unknown object with ID 14 is 61.7 meters away at (-40.1, -46.8). A pedestrian with ID 6 is 67.4 meters away at (-47.4, -47.9).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [1.1980903 0.0664243] m/s.The vehicle with ID 24 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 6 is traveling at a (x, y) velocity of [0.9038677  0.19614431] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.8, -2.8) 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 vehicle with ID 23 is 47.0 meters away at (-17.2, -43.8). A pedestrian with ID 3 is 50.1 meters away at (-17.1, -47.1). A pedestrian with ID 16 is 50.3 meters away at (-13.4, -48.4). A pedestrian with ID 4 is 51.0 meters away at (-17.5, -47.9). A vehicle with ID 29 is 52.9 meters away at (-37.6, 37.2). A vehicle with ID 24 is 54.9 meters away at (-31.3, 45.1). A pedestrian with ID 6 is 60.1 meters away at (-39.5, -45.3). A pedestrian with ID 7 is 76.0 meters away at (-37.3, -66.3). A pedestrian with ID 20 is 77.6 meters away at (-47.0, -61.8).

The vehicle with ID 23 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 3 is traveling at a (x, y) velocity of [1.2165141  0.36502495] m/s.The pedestrian with ID 16 is traveling at a (x, y) velocity of [ 1.2022752  -0.73773086] m/s.The pedestrian with ID 4 is traveling at a (x, y) velocity of [1.14143    0.50724846] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 6 is traveling at a (x, y) velocity of [0.9760094  0.22153284] m/s.The pedestrian with ID 7 is traveling at a (x, y) velocity of [ 1.3416998  -0.25721127] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [-0.40354335 -1.1891555 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, -2.3) m/s. Its current heading (yaw) is -0.33 radians with an angular velocity of -0.33 rad/s.

The most relevant actors are: A vehicle with ID 40 is 5.3 meters away at (3.2, -4.3). A vehicle with ID 44 is 6.7 meters away at (-1.7, 6.5). A vehicle with ID 43 is 6.9 meters away at (5.4, 4.4). A vehicle with ID 41 is 10.0 meters away at (8.1, -5.9). A vehicle with ID 39 is 15.2 meters away at (13.3, -7.4). A vehicle with ID 45 is 17.4 meters away at (17.4, 0.6). A vehicle with ID 49 is 17.7 meters away at (-17.5, 2.4). A pedestrian with ID 19 is 18.6 meters away at (18.3, 3.4). A pedestrian with ID 55 is 19.0 meters away at (15.6, -10.8). A pedestrian with ID 56 is 19.5 meters away at (15.7, -11.7).

The vehicle with ID 40 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 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3722464  -0.58608705] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.0077536  0.2554642] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9484324  0.2867179] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.6, -1.6) m/s. Its current heading (yaw) is -0.34 radians with an angular velocity of -0.34 rad/s.

The most relevant actors are: A vehicle with ID 78 is 3.5 meters away at (-0.6, 3.4). A vehicle with ID 41 is 3.7 meters away at (-2.8, -2.4). A vehicle with ID 39 is 4.5 meters away at (2.3, -3.9). A pedestrian with ID 55 is 7.3 meters away at (2.6, -6.8). A vehicle with ID 45 is 7.5 meters away at (6.3, 4.1). A vehicle with ID 40 is 7.8 meters away at (-7.7, -0.8). A pedestrian with ID 56 is 8.1 meters away at (2.7, -7.6). A vehicle with ID 43 is 9.7 meters away at (-5.6, 7.9). A pedestrian with ID 19 is 11.4 meters away at (9.7, 5.9). A vehicle with ID 44 is 16.1 meters away at (-12.6, 10.0).

The vehicle with ID 78 is traveling at a (x, y) velocity of [-9.275019   2.7687137] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-1.0456161   0.28912324] 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 pedestrian with ID 56 is traveling at a (x, y) velocity of [-1.0958798   0.30172428] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.1853217 -0.5389934] m/s.The vehicle with ID 44 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 (3.1, -1.1) m/s. Its current heading (yaw) is -0.34 radians with an angular velocity of -0.34 rad/s.

The most relevant actors are: A vehicle with ID 75 is 5.4 meters away at (4.9, 2.1). A vehicle with ID 39 is 5.8 meters away at (-5.6, -1.3). A vehicle with ID 45 is 7.0 meters away at (-1.6, 6.8). A pedestrian with ID 55 is 8.0 meters away at (-7.2, -3.5). A pedestrian with ID 56 is 8.3 meters away at (-7.1, -4.3). A pedestrian with ID 19 is 8.7 meters away at (4.2, 7.6). A vehicle with ID 41 is 10.8 meters away at (-10.8, 0.3). A vehicle with ID 40 is 15.9 meters away at (-15.8, 2.0). A vehicle with ID 43 is 17.2 meters away at (-13.6, 10.5). A vehicle with ID 6 is 19.9 meters away at (19.0, 5.9).

The vehicle with ID 75 is traveling at a (x, y) velocity of [-5.1899295  0.9354085] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.92636955  0.2574377 ] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9092526  0.2694687] m/s.The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.3968792  -0.63112384] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.59747124 -1.6587602 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.3, -0.1) 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 pedestrian with ID 19 is 8.5 meters away at (3.5, 7.7). A vehicle with ID 39 is 8.8 meters away at (-8.8, -0.2). A vehicle with ID 45 is 9.2 meters away at (-4.7, 7.9). A pedestrian with ID 55 is 12.3 meters away at (-12.1, -1.8). A pedestrian with ID 56 is 12.4 meters away at (-12.2, -2.6). A vehicle with ID 75 is 12.5 meters away at (-10.8, 6.3). A vehicle with ID 41 is 14.1 meters away at (-14.0, 1.4). A vehicle with ID 6 is 15.8 meters away at (15.0, 5.0). A vehicle with ID 3 is 17.2 meters away at (5.1, -16.4). A vehicle with ID 40 is 19.2 meters away at (-19.0, 3.1).

The pedestrian with ID 19 is traveling at a (x, y) velocity of [ 1.2544726 -0.4668628] m/s.The vehicle with ID 39 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 55 is traveling at a (x, y) velocity of [-0.9521353  0.3082399] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.9240795   0.35980192] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [-7.3985167  2.0897143] m/s.The vehicle with ID 41 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 6 is traveling at a (x, y) velocity of [-0.10069893 -0.28772545] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-1.3, 0.9) m/s. Its current heading (yaw) is 2.51 radians with an angular velocity of 2.51 rad/s.

The most relevant actors are: A unknown object with ID 26 is 3.6 meters away at (-1.1, 3.4). A unknown object with ID 24 is 5.4 meters away at (5.3, -1.0). A vehicle with ID 25 is 5.5 meters away at (5.4, 1.1). A unknown object with ID 27 is 5.8 meters away at (2.2, 5.4). A unknown object with ID 1 is 6.9 meters away at (5.1, 4.6). A unknown object with ID 31 is 7.1 meters away at (-0.4, 7.0). A unknown object with ID 36 is 9.5 meters away at (-6.1, 7.3). A unknown object with ID 32 is 9.5 meters away at (8.2, 5.0). A pedestrian with ID 56 is 9.8 meters away at (-9.7, -1.4). A unknown object with ID 38 is 10.6 meters away at (-4.4, 9.7).

The unknown object with ID 26 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 25 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.39575675 -0.38557032] m/s.The unknown object with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.1, 0.1) 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 unknown object with ID 26 is 2.9 meters away at (-0.2, 2.9). A unknown object with ID 27 is 5.7 meters away at (3.1, 4.8). A vehicle with ID 25 is 6.1 meters away at (6.1, 0.6). A unknown object with ID 24 is 6.4 meters away at (6.2, -1.5). A unknown object with ID 31 is 6.5 meters away at (0.5, 6.5). A unknown object with ID 1 is 7.3 meters away at (6.0, 4.1). A unknown object with ID 36 is 8.5 meters away at (-5.2, 6.7). A unknown object with ID 38 is 9.8 meters away at (-3.5, 9.2). A unknown object with ID 32 is 10.1 meters away at (9.1, 4.4). A pedestrian with ID 56 is 10.8 meters away at (-10.2, -3.5).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 56 is traveling at a (x, y) velocity of [-0.76378053 -1.0039566 ] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A unknown object with ID 26 is 2.7 meters away at (-0.1, 2.7). A unknown object with ID 27 is 5.7 meters away at (3.2, 4.7). A vehicle with ID 25 is 6.2 meters away at (6.2, 0.5). A unknown object with ID 31 is 6.4 meters away at (0.6, 6.4). A unknown object with ID 24 is 6.5 meters away at (6.3, -1.6). A unknown object with ID 1 is 7.3 meters away at (6.1, 3.9). A unknown object with ID 36 is 8.4 meters away at (-5.1, 6.6). A unknown object with ID 38 is 9.7 meters away at (-3.4, 9.1). A unknown object with ID 32 is 10.2 meters away at (9.2, 4.3). A unknown object with ID 45 is 11.9 meters away at (-2.7, 11.6).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 2.42 radians with an angular velocity of 2.42 rad/s.

The most relevant actors are: A unknown object with ID 26 is 2.7 meters away at (-0.1, 2.7). A unknown object with ID 27 is 5.7 meters away at (3.2, 4.6). A vehicle with ID 25 is 6.2 meters away at (6.2, 0.5). A unknown object with ID 31 is 6.4 meters away at (0.6, 6.4). A unknown object with ID 24 is 6.5 meters away at (6.3, -1.7). A unknown object with ID 1 is 7.3 meters away at (6.2, 3.9). A unknown object with ID 36 is 8.3 meters away at (-5.1, 6.6). A unknown object with ID 38 is 9.6 meters away at (-3.4, 9.0). A unknown object with ID 32 is 10.2 meters away at (9.2, 4.3). A unknown object with ID 45 is 11.9 meters away at (-2.7, 11.6).

The unknown object with ID 26 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 25 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 36 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 32 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-4.0, 2.1) m/s. Its current heading (yaw) is 2.66 radians with an angular velocity of 2.66 rad/s.

The most relevant actors are: A vehicle with ID 71 is 4.9 meters away at (-1.1, 4.8). A vehicle with ID 73 is 5.8 meters away at (-5.8, -0.2). A vehicle with ID 75 is 9.4 meters away at (-9.0, -2.8). A vehicle with ID 78 is 13.2 meters away at (5.2, -12.1). A pedestrian with ID 74 is 13.8 meters away at (4.3, 13.1). A vehicle with ID 77 is 14.1 meters away at (-8.6, 11.1). A vehicle with ID 80 is 15.3 meters away at (-15.0, 2.8). A pedestrian with ID 72 is 16.7 meters away at (11.8, 11.9). A vehicle with ID 82 is 19.5 meters away at (-12.7, -14.8). A vehicle with ID 85 is 19.9 meters away at (-13.3, 14.8).

The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [3.879142 4.943833] m/s.The pedestrian with ID 74 is traveling at a (x, y) velocity of [0.08427274 0.01414921] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 72 is traveling at a (x, y) velocity of [0.42452088 0.87886155] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-5.3, 4.1) 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 77 is 4.9 meters away at (0.7, 4.8). A vehicle with ID 80 is 6.6 meters away at (-5.6, -3.5). A vehicle with ID 73 is 7.4 meters away at (3.5, -6.5). A vehicle with ID 71 is 8.4 meters away at (8.2, -1.5). A vehicle with ID 75 is 9.1 meters away at (0.4, -9.1). A vehicle with ID 85 is 9.3 meters away at (-3.9, 8.5). A vehicle with ID 89 is 12.7 meters away at (-12.5, 2.3). A vehicle with ID 92 is 16.2 meters away at (-9.4, 13.2). A vehicle with ID 86 is 18.6 meters away at (-9.1, -16.2). A vehicle with ID 84 is 20.7 meters away at (-5.8, -19.9).

The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 73 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 71 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 86 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 84 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.4, 5.5) m/s. Its current heading (yaw) is 2.43 radians with an angular velocity of 2.43 rad/s.

The most relevant actors are: A vehicle with ID 92 is 4.1 meters away at (2.3, 3.4). A vehicle with ID 89 is 7.4 meters away at (-0.9, -7.3). A vehicle with ID 85 is 7.8 meters away at (7.7, -1.3). A vehicle with ID 33 is 9.4 meters away at (-3.9, 8.6). A vehicle with ID 70 is 10.2 meters away at (-10.2, -0.0). A vehicle with ID 77 is 13.3 meters away at (12.3, -4.9). A vehicle with ID 80 is 14.6 meters away at (6.0, -13.3). A vehicle with ID 34 is 15.0 meters away at (-8.3, 12.5). A vehicle with ID 88 is 17.9 meters away at (-16.9, 5.8). A vehicle with ID 29 is 21.4 meters away at (-13.3, 16.8).

The vehicle with ID 92 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 89 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 88 is traveling at a (x, y) velocity of [ 1.1367302 -0.8075612] 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 (-7.1, 5.8) m/s. Its current heading (yaw) is 2.46 radians with an angular velocity of 2.46 rad/s.

The most relevant actors are: A vehicle with ID 34 is 5.2 meters away at (5.0, 1.5). A vehicle with ID 29 is 5.7 meters away at (0.1, 5.7). A vehicle with ID 88 is 6.7 meters away at (-2.3, -6.3). A vehicle with ID 33 is 9.7 meters away at (9.4, -2.4). A vehicle with ID 27 is 9.8 meters away at (-9.8, 0.1). A vehicle with ID 23 is 10.5 meters away at (-4.4, 9.5). A vehicle with ID 70 is 11.5 meters away at (3.2, -11.1). A vehicle with ID 21 is 16.1 meters away at (-9.2, 13.2). A vehicle with ID 22 is 17.2 meters away at (-16.2, 5.8). A vehicle with ID 28 is 17.3 meters away at (-15.1, -8.5).

The vehicle with ID 34 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 88 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 70 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 21 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 22 is traveling at a (x, y) velocity of [ 1.9444281 -1.6359525] m/s.The vehicle with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.9) m/s. Its current heading (yaw) is 1.62 radians with an angular velocity of 1.62 rad/s.

The most relevant actors are: A pedestrian with ID 5 is 22.2 meters away at (-8.8, -20.4). A vehicle with ID 34 is 42.7 meters away at (42.6, -2.9).

The pedestrian with ID 5 is traveling at a (x, y) velocity of [0.00834774 0.0268566 ] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 0.0) m/s. Its current heading (yaw) is 1.60 radians with an angular velocity of 1.60 rad/s.

The most relevant actors are: A unknown object with ID 15 is 13.8 meters away at (4.6, 12.9). A pedestrian with ID 9 is 25.8 meters away at (-23.1, 11.6). A unknown object with ID 13 is 33.9 meters away at (-22.5, 25.4). A vehicle with ID 34 is 42.8 meters away at (42.6, -3.3).

The unknown object with ID 15 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 9 is traveling at a (x, y) velocity of [ 0.00718357 -0.00266505] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.0, 1.2) m/s. Its current heading (yaw) is 1.57 radians with an angular velocity of 1.57 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 23.9 meters away at (-8.8, -22.2). A vehicle with ID 1 is 42.9 meters away at (42.7, -4.5). A unknown object with ID 10 is 53.3 meters away at (52.1, -11.4).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.00780853 0.01151086] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 10 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: 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 1.13 radians with an angular velocity of 1.13 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 27.0 meters away at (-9.3, -25.3). A pedestrian with ID 14 is 27.6 meters away at (-9.8, -25.8). A vehicle with ID 1 is 42.7 meters away at (42.1, -7.5).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [0.01796155 0.00450156] m/s.The pedestrian with ID 14 is traveling at a (x, y) velocity of [0.0174306  0.01930356] m/s.The vehicle with ID 1 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 (-0.6, -2.0) m/s. Its current heading (yaw) is -1.84 radians with an angular velocity of -1.84 rad/s.

The most relevant actors are: A vehicle with ID 43 is 10.4 meters away at (9.5, 4.3). A vehicle with ID 45 is 19.2 meters away at (-13.8, -13.4). A vehicle with ID 46 is 23.9 meters away at (18.5, -15.2). A vehicle with ID 47 is 26.3 meters away at (-26.2, 2.8). A vehicle with ID 27 is 29.4 meters away at (-27.5, -10.3). A vehicle with ID 48 is 32.5 meters away at (27.1, -17.9). A vehicle with ID 49 is 38.7 meters away at (33.3, -19.8). A pedestrian with ID 20 is 39.4 meters away at (34.9, -18.5). A vehicle with ID 8 is 39.5 meters away at (-11.3, -37.9). A vehicle with ID 50 is 50.2 meters away at (13.7, 48.3).

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 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.The vehicle with ID 27 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 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 20 is traveling at a (x, y) velocity of [0.0822833  0.01136271] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.929595 -7.881851] m/s.The vehicle with ID 50 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 (-1.4, -4.7) m/s. Its current heading (yaw) is -1.85 radians with an angular velocity of -1.85 rad/s.

The most relevant actors are: A vehicle with ID 45 is 13.6 meters away at (-12.0, -6.4). A vehicle with ID 43 is 16.0 meters away at (11.3, 11.3). A vehicle with ID 46 is 21.9 meters away at (20.3, -8.1). A vehicle with ID 27 is 25.9 meters away at (-25.7, -3.3). A vehicle with ID 47 is 26.3 meters away at (-24.4, 9.9). A vehicle with ID 48 is 31.0 meters away at (29.0, -10.9). A vehicle with ID 49 is 37.4 meters away at (35.2, -12.8). A vehicle with ID 8 is 50.1 meters away at (-14.0, -48.1). A vehicle with ID 24 is 54.7 meters away at (-54.3, 6.6). A vehicle with ID 50 is 57.5 meters away at (15.5, 55.4).

The vehicle with ID 45 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 46 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 47 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 49 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 [-2.521639 -8.512792] m/s.The vehicle with ID 24 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.0, -6.4) m/s. Its current heading (yaw) is -1.87 radians with an angular velocity of -1.87 rad/s.

The most relevant actors are: A vehicle with ID 45 is 10.1 meters away at (-9.0, 4.7). A vehicle with ID 46 is 23.4 meters away at (23.2, 3.1). A vehicle with ID 27 is 24.0 meters away at (-22.7, 7.8). A vehicle with ID 43 is 26.7 meters away at (14.2, 22.6). A vehicle with ID 47 is 30.0 meters away at (-21.4, 21.0). A vehicle with ID 48 is 31.8 meters away at (31.8, 0.3). A vehicle with ID 49 is 38.1 meters away at (38.0, -1.5). A vehicle with ID 8 is 55.5 meters away at (-16.1, -53.1). A vehicle with ID 1 is 55.6 meters away at (-19.5, -52.1). A vehicle with ID 23 is 59.1 meters away at (-50.3, 31.0).

The vehicle with ID 45 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 27 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 47 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 49 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 [-2.4845972 -7.3098526] m/s.The vehicle with ID 1 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.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -7.2) m/s. Its current heading (yaw) is -1.89 radians with an angular velocity of -1.89 rad/s.

The most relevant actors are: A vehicle with ID 45 is 19.0 meters away at (-5.0, 18.3). A vehicle with ID 31 is 24.9 meters away at (7.2, -23.9). A vehicle with ID 46 is 32.0 meters away at (27.3, 16.8). A vehicle with ID 48 is 38.5 meters away at (35.9, 13.9). A vehicle with ID 47 is 38.8 meters away at (-17.4, 34.6). A vehicle with ID 43 is 40.6 meters away at (18.2, 36.3). A vehicle with ID 1 is 41.4 meters away at (-15.5, -38.4). A vehicle with ID 49 is 43.9 meters away at (42.2, 12.2). A vehicle with ID 8 is 53.6 meters away at (-15.9, -51.2). A vehicle with ID 4 is 67.1 meters away at (-22.0, -63.4).

The vehicle with ID 45 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 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 47 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 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [-1.4704001 -3.8674278] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, 4.9) m/s. Its current heading (yaw) is 0.85 radians with an angular velocity of 0.85 rad/s.

The most relevant actors are: A vehicle with ID 79 is 4.8 meters away at (-4.8, 0.5). A vehicle with ID 83 is 5.8 meters away at (-0.6, 5.8). A pedestrian with ID 93 is 12.9 meters away at (-0.4, 12.9). A vehicle with ID 31 is 16.8 meters away at (7.5, 15.0). A vehicle with ID 80 is 20.1 meters away at (-19.0, -6.4). A vehicle with ID 81 is 21.0 meters away at (-1.7, -21.0). A vehicle with ID 78 is 21.3 meters away at (-18.4, -10.8). A vehicle with ID 85 is 22.4 meters away at (-5.2, -21.8). A vehicle with ID 82 is 22.8 meters away at (-22.6, -3.2). A vehicle with ID 77 is 23.1 meters away at (23.0, 2.0).

The vehicle with ID 79 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 pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.7815776 -1.0856061] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 80 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 81 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 78 is traveling at a (x, y) velocity of [-5.238579  4.510555] m/s.The vehicle with ID 85 is traveling at a (x, y) velocity of [-0.727783  0.655122] m/s.The vehicle with ID 82 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.5, 4.2) m/s. Its current heading (yaw) is 0.88 radians with an angular velocity of 0.88 rad/s.

The most relevant actors are: A vehicle with ID 31 is 5.6 meters away at (-0.4, 5.6). A vehicle with ID 83 is 9.2 meters away at (-8.5, -3.6). A pedestrian with ID 93 is 10.2 meters away at (-10.1, 1.5). A vehicle with ID 2 is 14.5 meters away at (1.3, 14.5). A vehicle with ID 79 is 15.6 meters away at (-12.7, -9.0). A unknown object with ID 102 is 15.6 meters away at (15.3, -2.9). A vehicle with ID 77 is 16.8 meters away at (15.0, -7.4). A vehicle with ID 7 is 25.5 meters away at (-1.3, 25.5). A vehicle with ID 8 is 27.3 meters away at (-3.1, 27.2). A vehicle with ID 112 is 29.7 meters away at (29.7, -1.2).

The vehicle with ID 31 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 pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.8089624  -0.89776355] m/s.The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.6731924 -0.5788752] m/s.The vehicle with ID 79 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 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 112 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.9, 4.0) m/s. Its current heading (yaw) is 0.94 radians with an angular velocity of 0.94 rad/s.

The most relevant actors are: A vehicle with ID 31 is 6.4 meters away at (-6.2, -1.6). A vehicle with ID 2 is 8.3 meters away at (-4.5, 7.0). A vehicle with ID 77 is 17.4 meters away at (9.2, -14.7). A vehicle with ID 83 is 18.1 meters away at (-14.4, -11.0). A pedestrian with ID 93 is 19.4 meters away at (-17.7, -7.9). A vehicle with ID 7 is 19.5 meters away at (-7.2, 18.1). A vehicle with ID 8 is 21.8 meters away at (-9.0, 19.9). A vehicle with ID 79 is 24.8 meters away at (-18.6, -16.4). A vehicle with ID 3 is 29.4 meters away at (-1.3, 29.4). A unknown object with ID 1 is 33.5 meters away at (15.4, 29.8).

The vehicle with ID 31 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 77 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 pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.9603917 -1.1562712] m/s.The vehicle with ID 7 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 79 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 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, 5.3) m/s. Its current heading (yaw) is 1.00 radians with an angular velocity of 1.00 rad/s.

The most relevant actors are: A vehicle with ID 2 is 11.1 meters away at (-10.7, -3.1). A vehicle with ID 7 is 16.2 meters away at (-13.9, 8.5). A vehicle with ID 31 is 17.2 meters away at (-12.9, -11.3). A vehicle with ID 8 is 18.7 meters away at (-15.6, 10.3). A vehicle with ID 3 is 21.3 meters away at (-8.0, 19.8). A unknown object with ID 1 is 21.8 meters away at (8.6, 20.1). A vehicle with ID 77 is 24.5 meters away at (2.5, -24.4). A vehicle with ID 75 is 27.0 meters away at (18.2, 20.0). A vehicle with ID 83 is 29.5 meters away at (-21.0, -20.7). A pedestrian with ID 93 is 32.6 meters away at (-26.1, -19.6).

The vehicle with ID 2 is traveling at a (x, y) velocity of [ 0.84186906 -0.57148623] m/s.The vehicle with ID 7 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 8 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 77 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 75 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 pedestrian with ID 93 is traveling at a (x, y) velocity of [-0.66045165 -0.85929567] m/s.

Instruction: right u-turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.6) m/s. Its current heading (yaw) is 1.91 radians with an angular velocity of 1.91 rad/s.

The most relevant actors are: A vehicle with ID 3 is 36.1 meters away at (6.0, -35.6). A vehicle with ID 1 is 72.7 meters away at (-31.8, 65.4).

The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.3196895 -8.894655 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.8, 10.9) m/s. Its current heading (yaw) is 1.91 radians with an angular velocity of 1.91 rad/s.

The most relevant actors are: A vehicle with ID 1 is 49.8 meters away at (-23.5, 43.9). A vehicle with ID 3 is 78.4 meters away at (20.6, -75.6).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.3628261  0.12446182] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [ 3.695341 -9.374402] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.7, 10.8) m/s. Its current heading (yaw) is 1.90 radians with an angular velocity of 1.90 rad/s.

The most relevant actors are: A vehicle with ID 1 is 27.0 meters away at (-15.1, 22.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.42000932 0.12953874] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-3.5, 10.5) m/s. Its current heading (yaw) is 1.89 radians with an angular velocity of 1.89 rad/s.

The most relevant actors are: A vehicle with ID 1 is 7.1 meters away at (-6.9, 1.5).

The vehicle with ID 1 is traveling at a (x, y) velocity of [0.37322173 0.09775686] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.9, 7.0) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 30 is 20.6 meters away at (-12.7, -16.3). A vehicle with ID 31 is 23.8 meters away at (15.1, 18.4). A vehicle with ID 29 is 31.8 meters away at (-22.4, -22.5). A vehicle with ID 33 is 40.5 meters away at (26.1, 31.0). A vehicle with ID 32 is 50.9 meters away at (-34.4, -37.5). A vehicle with ID 34 is 55.0 meters away at (-32.7, -44.2). A vehicle with ID 15 is 69.3 meters away at (45.3, 52.5). A vehicle with ID 37 is 72.3 meters away at (-58.3, -42.6). A vehicle with ID 35 is 78.7 meters away at (-51.9, -59.1).

The vehicle with ID 30 is traveling at a (x, y) velocity of [5.037893  5.9127116] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.669002 7.812534] m/s.The vehicle with ID 29 is traveling at a (x, y) velocity of [-3.9761217 -5.3347926] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [6.2428846 7.295251 ] m/s.The vehicle with ID 32 is traveling at a (x, y) velocity of [-4.1081257 -5.5041323] m/s.The vehicle with ID 34 is traveling at a (x, y) velocity of [0.979063 3.35843 ] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [7.553219 7.622046] m/s.The vehicle with ID 37 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 [-4.5398526 -5.9755797] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (6.6, 7.8) m/s. Its current heading (yaw) is 0.87 radians with an angular velocity of 0.87 rad/s.

The most relevant actors are: A vehicle with ID 30 is 21.9 meters away at (-13.4, -17.3). A vehicle with ID 31 is 24.8 meters away at (15.8, 19.1). A vehicle with ID 33 is 40.8 meters away at (26.7, 30.8). A vehicle with ID 3 is 60.0 meters away at (36.9, 47.3). A vehicle with ID 29 is 65.1 meters away at (-43.3, -48.6). A vehicle with ID 15 is 72.6 meters away at (48.9, 53.7).

The vehicle with ID 30 is traveling at a (x, y) velocity of [6.9585032 7.9945793] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [6.8536882 8.099893 ] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [7.6124153 8.03518  ] m/s.The vehicle with ID 3 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 [-3.9105055 -5.2605286] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [8.708409 8.402494] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.6, 6.5) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 30 is 19.2 meters away at (-11.5, -15.3). A vehicle with ID 31 is 27.1 meters away at (17.6, 20.6). A vehicle with ID 4 is 38.1 meters away at (35.3, 14.3). A vehicle with ID 3 is 40.6 meters away at (24.5, 32.4). A vehicle with ID 33 is 44.8 meters away at (30.5, 32.8). A vehicle with ID 1 is 56.7 meters away at (-30.4, 47.9). A unknown object with ID 25 is 59.8 meters away at (31.1, 51.0). A vehicle with ID 2 is 67.7 meters away at (-42.6, -52.7). A unknown object with ID 20 is 73.2 meters away at (-48.1, 55.2). A vehicle with ID 15 is 77.7 meters away at (54.8, 55.2).

The vehicle with ID 30 is traveling at a (x, y) velocity of [6.672733  7.5799217] m/s.The vehicle with ID 31 is traveling at a (x, y) velocity of [7.507037 7.969081] m/s.The vehicle with ID 4 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [-0.1599104  -0.45412883] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [8.631802 8.329498] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 8.708358  -3.8851247] m/s.The unknown object with ID 25 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 [6.013987  7.0704117] m/s.The unknown object with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 15 is traveling at a (x, y) velocity of [9.397303  7.8819957] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (3.4, 5.8) m/s. Its current heading (yaw) is 1.05 radians with an angular velocity of 1.05 rad/s.

The most relevant actors are: A vehicle with ID 30 is 15.4 meters away at (-8.4, -12.9). A vehicle with ID 3 is 24.7 meters away at (14.8, 19.8). A vehicle with ID 4 is 26.0 meters away at (25.9, 2.2). A vehicle with ID 6 is 33.2 meters away at (33.1, -2.7). A vehicle with ID 31 is 34.5 meters away at (24.3, 24.5). A vehicle with ID 1 is 38.3 meters away at (-24.5, 29.4). A vehicle with ID 12 is 43.6 meters away at (42.9, -7.9). A unknown object with ID 13 is 48.2 meters away at (27.7, 39.4). A vehicle with ID 14 is 51.6 meters away at (50.3, -11.5). A vehicle with ID 33 is 54.0 meters away at (39.1, 37.3).

The vehicle with ID 30 is traveling at a (x, y) velocity of [7.0773916 7.7646294] m/s.The vehicle with ID 3 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 6 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 [8.712628 8.012733] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [ 6.5481005 -3.1000428] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 13 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 14 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 33 is traveling at a (x, y) velocity of [9.696051 8.123078] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-2.3, -6.1) m/s. Its current heading (yaw) is -1.93 radians with an angular velocity of -1.93 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 22.2 meters away at (-6.5, -21.2). A vehicle with ID 25 is 22.7 meters away at (7.0, 21.6). A pedestrian with ID 29 is 32.0 meters away at (-31.9, -1.0). A vehicle with ID 27 is 38.8 meters away at (-4.0, -38.6). A vehicle with ID 23 is 39.1 meters away at (-39.1, 0.5). A vehicle with ID 24 is 41.4 meters away at (-41.3, -1.4). A pedestrian with ID 30 is 41.8 meters away at (-36.7, 19.9). A vehicle with ID 16 is 41.8 meters away at (-4.7, -41.5). A vehicle with ID 31 is 42.0 meters away at (-41.7, -4.8). A vehicle with ID 35 is 43.1 meters away at (3.7, -42.9).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.30029324 -0.0407715 ] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-3.0863016 -6.7036476] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.01170891 -0.00517781] m/s.The vehicle with ID 27 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 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 30 is traveling at a (x, y) velocity of [ 0.2821392 -1.06343  ] m/s.The vehicle with ID 16 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 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-0.4, -5.1) m/s. Its current heading (yaw) is -1.64 radians with an angular velocity of -1.64 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 11.0 meters away at (-3.9, -10.3). A vehicle with ID 25 is 21.0 meters away at (4.6, 20.5). A vehicle with ID 27 is 27.6 meters away at (-1.3, -27.6). A vehicle with ID 16 is 30.6 meters away at (-1.9, -30.6). A pedestrian with ID 29 is 30.7 meters away at (-29.0, 10.0). A vehicle with ID 35 is 32.4 meters away at (6.3, -31.8). A vehicle with ID 37 is 33.3 meters away at (-3.0, -33.2). A vehicle with ID 38 is 35.1 meters away at (5.2, -34.7). A cyclist with ID 15 is 36.1 meters away at (1.6, -36.1). A vehicle with ID 18 is 36.7 meters away at (-3.6, -36.5).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [ 0.00098307 -0.00052611] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-2.290757  -5.7408733] m/s.The vehicle with ID 27 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 16 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [0.01439755 0.00341191] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [ 0.01190299 -0.02314177] m/s.The vehicle with ID 18 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.9, -3.5) m/s. Its current heading (yaw) is -1.32 radians with an angular velocity of -1.32 rad/s.

The most relevant actors are: A pedestrian with ID 26 is 4.8 meters away at (-4.4, -1.8). A vehicle with ID 27 is 19.1 meters away at (-1.9, -19.0). A vehicle with ID 25 is 19.2 meters away at (0.1, 19.2). A vehicle with ID 16 is 22.2 meters away at (-2.6, -22.1). A vehicle with ID 35 is 23.9 meters away at (5.6, -23.3). A vehicle with ID 37 is 25.0 meters away at (-3.6, -24.7). A vehicle with ID 38 is 26.6 meters away at (4.5, -26.2). A cyclist with ID 15 is 27.6 meters away at (1.1, -27.6). A vehicle with ID 43 is 31.8 meters away at (2.1, -31.7). A vehicle with ID 3 is 32.1 meters away at (11.7, -29.9).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [0.01316723 0.00291905] m/s.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 [-1.5272264 -4.0599656] m/s.The vehicle with ID 16 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 37 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [0. 0.] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [0.02524648 0.01006582] m/s.The vehicle with ID 43 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 3 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (2.4, -4.0) 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 pedestrian with ID 26 is 9.3 meters away at (-7.5, 5.6). A vehicle with ID 27 is 12.7 meters away at (-4.7, -11.8). A vehicle with ID 16 is 15.5 meters away at (-7.3, -13.7). A vehicle with ID 35 is 16.2 meters away at (2.7, -16.0). A vehicle with ID 20 is 18.5 meters away at (-7.3, -16.9). A vehicle with ID 38 is 19.2 meters away at (1.8, -19.1). A cyclist with ID 15 is 20.4 meters away at (-1.9, -20.3). A vehicle with ID 25 is 20.7 meters away at (-5.1, 20.1). A vehicle with ID 11 is 21.6 meters away at (-7.5, -20.2). A vehicle with ID 5 is 22.0 meters away at (9.6, -19.8).

The pedestrian with ID 26 is traveling at a (x, y) velocity of [-0.5868605  0.2882743] m/s.The vehicle with ID 27 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 [-2.2924376  1.5061975] m/s.The vehicle with ID 35 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 [-1.8020307  1.2027612] m/s.The vehicle with ID 38 is traveling at a (x, y) velocity of [-0.23285554  0.21593022] m/s.The cyclist with ID 15 is traveling at a (x, y) velocity of [0.00351609 0.04592229] m/s.The vehicle with ID 25 is traveling at a (x, y) velocity of [-0.6916308 -1.8299478] m/s.The vehicle with ID 11 is traveling at a (x, y) velocity of [-1.6901112  1.131517 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.1, -2.2) m/s. Its current heading (yaw) is -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A vehicle with ID 5 is 29.5 meters away at (21.5, 20.2).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 0.8364145 -2.1397457] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-8.4, -2.4) m/s. Its current heading (yaw) is -2.86 radians with an angular velocity of -2.86 rad/s.

The most relevant actors are: A vehicle with ID 5 is 44.9 meters away at (41.0, 18.4). A vehicle with ID 1 is 68.8 meters away at (-61.9, 30.0).

The vehicle with ID 5 is traveling at a (x, y) velocity of [ 1.7127018 -4.019814 ] m/s.The vehicle with ID 1 is traveling at a (x, y) velocity of [  3.4456432 -12.130437 ] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-7.5, -2.1) m/s. Its current heading (yaw) is -2.87 radians with an angular velocity of -2.87 rad/s.

The most relevant actors are: A vehicle with ID 1 is 41.0 meters away at (-39.2, 12.1). A vehicle with ID 5 is 64.7 meters away at (63.1, 14.4).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 2.7975037 -9.699346 ] m/s.The vehicle with ID 5 is traveling at a (x, y) velocity of [ 4.9872065 -3.3922038] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (-6.3, -0.8) m/s. Its current heading (yaw) is -3.02 radians with an angular velocity of -3.02 rad/s.

The most relevant actors are: A vehicle with ID 1 is 20.5 meters away at (-20.5, -0.9).

The vehicle with ID 1 is traveling at a (x, y) velocity of [ 3.1436398 -6.5356755] m/s.

Instruction: Slight right turn approaching.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (5.8, -3.6) m/s. Its current heading (yaw) is -0.55 radians with an angular velocity of -0.55 rad/s.

The most relevant actors are: A vehicle with ID 55 is 11.4 meters away at (0.3, 11.4). A vehicle with ID 50 is 16.0 meters away at (15.8, -2.2). A pedestrian with ID 18 is 20.6 meters away at (14.7, -14.3). A vehicle with ID 51 is 21.6 meters away at (20.9, -5.3). A vehicle with ID 49 is 27.0 meters away at (25.4, -9.0). A vehicle with ID 52 is 39.6 meters away at (-32.4, 22.8). A vehicle with ID 60 is 42.3 meters away at (-34.8, -24.1). A pedestrian with ID 57 is 43.7 meters away at (-31.1, 30.7). A vehicle with ID 61 is 45.2 meters away at (-45.0, 4.2). A vehicle with ID 59 is 46.0 meters away at (-45.7, -5.8).

The vehicle with ID 55 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 18 is traveling at a (x, y) velocity of [ 0.69637847 -0.25145113] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 52 is traveling at a (x, y) velocity of [-10.881249   6.312024] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-0.9539106   0.45791265] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [2.904832 3.329809] m/s.The vehicle with ID 59 is traveling at a (x, y) velocity of [-1.9416386   0.77998924] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.8, -3.2) 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 vehicle with ID 50 is 7.0 meters away at (5.5, 4.3). A pedestrian with ID 18 is 10.3 meters away at (5.7, -8.6). A vehicle with ID 51 is 10.5 meters away at (10.5, 1.4). A vehicle with ID 49 is 15.2 meters away at (15.0, -2.4). A vehicle with ID 55 is 20.6 meters away at (-10.2, 17.9). A vehicle with ID 60 is 48.5 meters away at (-45.2, -17.5). A unknown object with ID 42 is 53.3 meters away at (50.3, -17.7). A vehicle with ID 61 is 53.8 meters away at (-51.0, 17.2). A pedestrian with ID 57 is 58.1 meters away at (-43.7, 38.3). A vehicle with ID 12 is 59.1 meters away at (-0.1, -59.1).

The vehicle with ID 50 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 [ 0.7568958  -0.58196354] m/s.The vehicle with ID 51 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 55 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 60 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 61 is traveling at a (x, y) velocity of [1.8406599 3.1220133] m/s.The pedestrian with ID 57 is traveling at a (x, y) velocity of [-1.0102065  0.5323492] m/s.The vehicle with ID 12 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.3, -2.8) m/s. Its current heading (yaw) is -0.58 radians with an angular velocity of -0.58 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 3.9 meters away at (-1.9, -3.4). A vehicle with ID 49 is 6.9 meters away at (5.9, 3.6). A vehicle with ID 51 is 7.4 meters away at (1.5, 7.2). A vehicle with ID 50 is 10.9 meters away at (-3.6, 10.3). A unknown object with ID 28 is 12.6 meters away at (12.6, -1.3). A unknown object with ID 24 is 30.5 meters away at (-21.8, 21.3). A vehicle with ID 46 is 42.8 meters away at (-30.7, 29.8). A unknown object with ID 42 is 42.8 meters away at (41.2, -11.6). A unknown object with ID 27 is 44.7 meters away at (42.1, -15.0). A pedestrian with ID 25 is 51.4 meters away at (14.8, -49.2).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.8051406 -0.5068769] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 50 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 28 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 46 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 27 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 [1.0492299 0.6582793] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (4.1, -3.0) m/s. Its current heading (yaw) is -0.63 radians with an angular velocity of -0.63 rad/s.

The most relevant actors are: A pedestrian with ID 18 is 8.8 meters away at (-8.7, 1.1). A vehicle with ID 49 is 9.3 meters away at (-2.2, 9.0). A vehicle with ID 51 is 14.4 meters away at (-6.7, 12.7). A pedestrian with ID 38 is 17.0 meters away at (16.4, 4.6). A vehicle with ID 50 is 19.7 meters away at (-11.8, 15.8). A unknown object with ID 42 is 33.6 meters away at (33.1, -6.2). A unknown object with ID 27 is 35.2 meters away at (33.9, -9.5). A unknown object with ID 30 is 36.6 meters away at (-13.1, 34.1). A pedestrian with ID 25 is 42.0 meters away at (9.0, -41.0). A pedestrian with ID 48 is 43.0 meters away at (9.7, -41.9).

The pedestrian with ID 18 is traveling at a (x, y) velocity of [ 0.63527596 -0.4454923 ] m/s.The vehicle with ID 49 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 51 is traveling at a (x, y) velocity of [0. 0.] m/s.The pedestrian with ID 38 is traveling at a (x, y) velocity of [-0.00990357  0.00191903] m/s.The vehicle with ID 50 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 27 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 25 is traveling at a (x, y) velocity of [1.0114858 0.9685466] m/s.The pedestrian with ID 48 is traveling at a (x, y) velocity of [0.923952   0.96734947] m/s.

Instruction: Sharp right turn approaching


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.5 meters away at (-4.1, -5.0). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.5). A vehicle with ID 27 is 7.7 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.1 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 40 is 21.5 meters away at (15.1, 15.3). A vehicle with ID 42 is 21.7 meters away at (-20.9, 5.8). A vehicle with ID 24 is 24.1 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4).

The vehicle with ID 19 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 27 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [ 0.00117653 -0.00157514] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.0041553  0.00121659] m/s.The vehicle with ID 40 is traveling at a (x, y) velocity of [10.040073 -8.253471] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.4). A vehicle with ID 27 is 7.8 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.0 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-20.9, 5.8). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4). A vehicle with ID 64 is 32.8 meters away at (-6.6, 32.1).

The vehicle with ID 19 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 27 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.01048866 -0.00300687] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [0.00178971 0.0004157 ] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 4.7345634 -3.9242573] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.4, 6.5). A vehicle with ID 27 is 7.8 meters away at (5.1, 5.8). A unknown object with ID 22 is 8.1 meters away at (-4.3, 6.8). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-21.0, 5.8). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.0). A vehicle with ID 35 is 25.0 meters away at (-24.2, -6.4). A vehicle with ID 64 is 26.6 meters away at (0.2, 26.6).

The vehicle with ID 19 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 27 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 pedestrian with ID 29 is traveling at a (x, y) velocity of [-0.00023144  0.00053436] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.0004624  -0.00160074] m/s.The vehicle with ID 42 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 64 is traveling at a (x, y) velocity of [ 1.7439059 -1.4228101] m/s.

Instruction: Continue straight.


The ego vehicle with ID 0 is at the origin (0, 0) with a velocity of (0.0, 0.0) m/s. Its current heading (yaw) is 0.86 radians with an angular velocity of 0.86 rad/s.

The most relevant actors are: A vehicle with ID 19 is 6.4 meters away at (-4.1, -4.9). A vehicle with ID 20 is 6.6 meters away at (1.5, 6.5). A unknown object with ID 22 is 8.1 meters away at (-4.4, 6.8). A vehicle with ID 27 is 8.2 meters away at (5.4, 6.2). A pedestrian with ID 29 is 10.5 meters away at (-10.5, -0.7). A pedestrian with ID 31 is 11.1 meters away at (-11.0, -1.4). A vehicle with ID 42 is 21.7 meters away at (-21.0, 5.8). A vehicle with ID 1 is 23.3 meters away at (-0.6, 23.3). A vehicle with ID 24 is 24.2 meters away at (20.9, -12.1). A vehicle with ID 35 is 25.1 meters away at (-24.2, -6.5).

The vehicle with ID 19 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 20 is traveling at a (x, y) velocity of [0. 0.] m/s.The unknown object with ID 22 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 [0.39019513 0.4920304 ] m/s.The pedestrian with ID 29 is traveling at a (x, y) velocity of [-3.14388e-04  4.80228e-05] m/s.The pedestrian with ID 31 is traveling at a (x, y) velocity of [-0.00120787 -0.00024766] m/s.The vehicle with ID 42 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 [ 1.0654739  -0.98489904] m/s.The vehicle with ID 24 is traveling at a (x, y) velocity of [0. 0.] m/s.The vehicle with ID 35 is traveling at a (x, y) velocity of [0. 0.] m/s.

Instruction: Continue straight.