{
    "regions": [
        {
            "name": "roadway",
            "type": "road",
            "polygon": [
                [
                    430,
                    700
                ],
                [
                    650,
                    520
                ],
                [
                    930,
                    520
                ],
                [
                    1160,
                    710
                ],
                [
                    880,
                    900
                ],
                [
                    520,
                    900
                ]
            ],
            "attributes": [
                "asphalt",
                "lane_centerline_visible"
            ]
        },
        {
            "name": "left_sidewalk",
            "type": "sidewalk",
            "polygon": [
                [
                    250,
                    720
                ],
                [
                    420,
                    560
                ],
                [
                    510,
                    610
                ],
                [
                    340,
                    770
                ]
            ],
            "attributes": [
                "pedestrian_path",
                "curb_edge_visible"
            ]
        },
        {
            "name": "right_sidewalk",
            "type": "sidewalk",
            "polygon": [
                [
                    960,
                    600
                ],
                [
                    1180,
                    710
                ],
                [
                    1130,
                    780
                ],
                [
                    900,
                    660
                ]
            ],
            "attributes": [
                "pedestrian_path",
                "curb_edge_visible"
            ]
        },
        {
            "name": "left_parking_area",
            "type": "parking",
            "polygon": [
                [
                    360,
                    570
                ],
                [
                    610,
                    570
                ],
                [
                    650,
                    640
                ],
                [
                    390,
                    640
                ]
            ],
            "attributes": [
                "street_parking"
            ]
        },
        {
            "name": "right_parking_area",
            "type": "parking",
            "polygon": [
                [
                    740,
                    600
                ],
                [
                    1120,
                    600
                ],
                [
                    1140,
                    680
                ],
                [
                    760,
                    680
                ]
            ],
            "attributes": [
                "street_parking"
            ]
        },
        {
            "name": "left_building_front",
            "type": "building",
            "polygon": [
                [
                    150,
                    610
                ],
                [
                    360,
                    610
                ],
                [
                    420,
                    760
                ],
                [
                    170,
                    760
                ]
            ],
            "attributes": [
                "front_facade",
                "lit_windows"
            ]
        },
        {
            "name": "right_building_front",
            "type": "building",
            "polygon": [
                [
                    1010,
                    560
                ],
                [
                    1260,
                    560
                ],
                [
                    1260,
                    780
                ],
                [
                    1010,
                    740
                ]
            ],
            "attributes": [
                "front_facade",
                "lit_entry"
            ]
        },
        {
            "name": "right_gutter_strip",
            "type": "edge_area",
            "polygon": [
                [
                    820,
                    900
                ],
                [
                    1120,
                    710
                ],
                [
                    1160,
                    740
                ],
                [
                    880,
                    920
                ]
            ],
            "attributes": [
                "road_edge",
                "debris_or_grass_edge"
            ]
        },
        {
            "name": "current_location",
            "type": "ego_vehicle_start",
            "polygon": [
                [
                    650,
                    920
                ],
                [
                    760,
                    920
                ],
                [
                    790,
                    880
                ],
                [
                    670,
                    860
                ]
            ],
            "attributes": [
                "camera_position_estimate"
            ]
        }
    ],
    "objects": [
        {
            "name": "street_lamp",
            "type": "lamp_post",
            "point": [
                720,
                420
            ],
            "attributes": [
                "bright_light",
                "overhead_illumination"
            ]
        },
        {
            "name": "tree_1",
            "type": "tree",
            "point": [
                555,
                560
            ],
            "attributes": [
                "street_tree",
                "foliage_visible"
            ]
        },
        {
            "name": "tree_2",
            "type": "tree",
            "point": [
                920,
                580
            ],
            "attributes": [
                "street_tree",
                "foliage_visible"
            ]
        },
        {
            "name": "car_1",
            "type": "parked_car",
            "point": [
                860,
                670
            ],
            "attributes": [
                "rear_visible",
                "parked_on_right"
            ]
        },
        {
            "name": "car_2",
            "type": "parked_car",
            "point": [
                790,
                680
            ],
            "attributes": [
                "parked_on_right",
                "rear_visible"
            ]
        },
        {
            "name": "car_3",
            "type": "parked_car",
            "point": [
                530,
                690
            ],
            "attributes": [
                "parked_on_left",
                "side_visible"
            ]
        }
    ],
    "semantic_relationships": [
        {
            "subject": "current_location",
            "predicate": "is_on",
            "object": "roadway"
        },
        {
            "subject": "car_1",
            "predicate": "is_in",
            "object": "right_parking_area"
        },
        {
            "subject": "car_2",
            "predicate": "is_in",
            "object": "right_parking_area"
        },
        {
            "subject": "car_3",
            "predicate": "is_in",
            "object": "left_parking_area"
        },
        {
            "subject": "tree_1",
            "predicate": "is_near",
            "object": "left_sidewalk"
        },
        {
            "subject": "tree_2",
            "predicate": "is_near",
            "object": "right_sidewalk"
        },
        {
            "subject": "street_lamp",
            "predicate": "illuminates",
            "object": "roadway"
        },
        {
            "subject": "left_building_front",
            "predicate": "borders",
            "object": "left_parking_area"
        },
        {
            "subject": "right_building_front",
            "predicate": "borders",
            "object": "right_parking_area"
        },
        {
            "subject": "right_gutter_strip",
            "predicate": "adjacent_to",
            "object": "roadway"
        }
    ],
    "current_location": "current_location",
    "plans": [
        {
            "name": "continue_forward_on_roadway",
            "from": "current_location",
            "to": "roadway",
            "expected_action": "drive_straight"
        }
    ]
}