{
    "objects": [
        {
            "name": "shopping_building",
            "type": "building"
        },
        {
            "name": "parking_lot_road",
            "type": "road"
        },
        {
            "name": "dark_green_jeep",
            "type": "vehicle"
        },
        {
            "name": "silver_suv",
            "type": "vehicle"
        },
        {
            "name": "black_sedan_left",
            "type": "vehicle"
        },
        {
            "name": "other_vehicle_center",
            "type": "vehicle"
        },
        {
            "name": "sign_red_detached",
            "type": "sign"
        },
        {
            "name": "shop_signs_front",
            "type": "sign"
        },
        {
            "name": "street_lamp",
            "type": "street_light"
        },
        {
            "name": "umbrella_or_canopy_left",
            "type": "structure"
        },
        {
            "name": "bicycle_rack_right",
            "type": "bike_rack"
        },
        {
            "name": "dog_left",
            "type": "animal"
        },
        {
            "name": "person_left",
            "type": "person"
        },
        {
            "name": "person_right",
            "type": "person"
        },
        {
            "name": "trees_left",
            "type": "vegetation"
        },
        {
            "name": "trees_center_right",
            "type": "vegetation"
        }
    ],
    "regions": [
        {
            "name": "ground_1",
            "type": "ground",
            "polygon": [
                [
                    70,
                    330
                ],
                [
                    350,
                    310
                ],
                [
                    610,
                    320
                ],
                [
                    720,
                    440
                ],
                [
                    520,
                    560
                ],
                [
                    120,
                    560
                ]
            ]
        },
        {
            "name": "parking_lane_near_center",
            "type": "road_segment",
            "polygon": [
                [
                    240,
                    420
                ],
                [
                    520,
                    400
                ],
                [
                    700,
                    470
                ],
                [
                    580,
                    570
                ],
                [
                    260,
                    560
                ]
            ]
        },
        {
            "name": "shopfront_strip",
            "type": "sidewalk_strip",
            "polygon": [
                [
                    300,
                    280
                ],
                [
                    560,
                    270
                ],
                [
                    740,
                    360
                ],
                [
                    590,
                    470
                ],
                [
                    330,
                    450
                ]
            ]
        }
    ],
    "semantic_relationships": [
        {
            "relation": "vehicle_is_on",
            "subject": "dark_green_jeep",
            "object": "parking_lane_near_center"
        },
        {
            "relation": "vehicle_is_on",
            "subject": "silver_suv",
            "object": "parking_lane_near_center"
        },
        {
            "relation": "vehicle_is_on",
            "subject": "black_sedan_left",
            "object": "parking_lane_near_center"
        },
        {
            "relation": "vehicle_is_in_front_of",
            "subject": "dark_green_jeep",
            "object": "shopfront_strip"
        },
        {
            "relation": "vehicle_is_in_front_of",
            "subject": "silver_suv",
            "object": "shopfront_strip"
        },
        {
            "relation": "building_has_signage",
            "subject": "shopping_building",
            "object": "shop_signs_front"
        },
        {
            "relation": "sign_is_on",
            "subject": "sign_red_detached",
            "object": "shopfront_strip"
        },
        {
            "relation": "lamp_is_near",
            "subject": "street_lamp",
            "object": "shopfront_strip"
        },
        {
            "relation": "animal_is_near",
            "subject": "dog_left",
            "object": "shopfront_strip"
        },
        {
            "relation": "person_is_near",
            "subject": "person_left",
            "object": "shopfront_strip"
        },
        {
            "relation": "person_is_near",
            "subject": "person_right",
            "object": "shopfront_strip"
        },
        {
            "relation": "vegetation_lines_edge_of",
            "subject": "trees_left",
            "object": "shopfront_strip"
        },
        {
            "relation": "vegetation_lines_edge_of",
            "subject": "trees_center_right",
            "object": "shopfront_strip"
        },
        {
            "relation": "bike_rack_is_near",
            "subject": "bicycle_rack_right",
            "object": "shopfront_strip"
        },
        {
            "relation": "canopy_structure_is_on",
            "subject": "umbrella_or_canopy_left",
            "object": "shopfront_strip"
        }
    ],
    "current_location": "ground_1",
    "plans": [
        {
            "goal": "navigate_to_shopfront",
            "from": "ground_1",
            "to": "shopfront_strip"
        }
    ]
}