{
    "objects": [
        {
            "name": "road_vehicle_ahead",
            "type": "car",
            "coord": [
                [
                    540,
                    300
                ]
            ],
            "attributes": {
                "color": "unknown"
            }
        }
    ],
    "regions": [
        {
            "name": "road_main",
            "type": "road",
            "polygon": [
                [
                    0,
                    500
                ],
                [
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                    500
                ],
                [
                    820,
                    200
                ],
                [
                    0,
                    200
                ]
            ]
        },
        {
            "name": "lane_lines",
            "type": "road_markings",
            "polygon": [
                [
                    60,
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                ],
                [
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                    470
                ],
                [
                    760,
                    260
                ],
                [
                    60,
                    260
                ]
            ]
        },
        {
            "name": "sidewalk_left",
            "type": "sidewalk",
            "polygon": [
                [
                    0,
                    520
                ],
                [
                    130,
                    520
                ],
                [
                    210,
                    270
                ],
                [
                    0,
                    270
                ]
            ]
        },
        {
            "name": "sidewalk_right",
            "type": "sidewalk",
            "polygon": [
                [
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                    270
                ],
                [
                    820,
                    270
                ],
                [
                    820,
                    520
                ],
                [
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                    520
                ]
            ]
        },
        {
            "name": "curb_left",
            "type": "curb",
            "polygon": [
                [
                    120,
                    520
                ],
                [
                    200,
                    270
                ],
                [
                    240,
                    270
                ],
                [
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                    520
                ]
            ]
        },
        {
            "name": "curb_right",
            "type": "curb",
            "polygon": [
                [
                    630,
                    270
                ],
                [
                    680,
                    270
                ],
                [
                    760,
                    520
                ],
                [
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                    520
                ]
            ]
        },
        {
            "name": "fence_right",
            "type": "fence",
            "polygon": [
                [
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                    260
                ],
                [
                    820,
                    240
                ],
                [
                    820,
                    520
                ],
                [
                    620,
                    520
                ]
            ]
        },
        {
            "name": "trees_left_row",
            "type": "tree_line",
            "polygon": [
                [
                    40,
                    270
                ],
                [
                    250,
                    270
                ],
                [
                    300,
                    520
                ],
                [
                    80,
                    520
                ]
            ]
        },
        {
            "name": "trees_right_row",
            "type": "tree_line",
            "polygon": [
                [
                    520,
                    270
                ],
                [
                    720,
                    270
                ],
                [
                    820,
                    520
                ],
                [
                    610,
                    520
                ]
            ]
        },
        {
            "name": "buildings_left_cluster",
            "type": "building",
            "polygon": [
                [
                    0,
                    290
                ],
                [
                    180,
                    290
                ],
                [
                    210,
                    430
                ],
                [
                    0,
                    430
                ]
            ]
        },
        {
            "name": "buildings_right_cluster",
            "type": "building",
            "polygon": [
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                    260
                ],
                [
                    820,
                    260
                ],
                [
                    820,
                    430
                ],
                [
                    690,
                    430
                ]
            ]
        },
        {
            "name": "current_location",
            "type": "ego_vehicle_position",
            "coord": [
                [
                    410,
                    540
                ]
            ]
        }
    ],
    "connections": [
        {
            "from": "road_vehicle_ahead",
            "relation": "is_ahead_of",
            "to": "current_location"
        },
        {
            "from": "road_vehicle_ahead",
            "relation": "is_on",
            "to": "road_main"
        },
        {
            "from": "lane_lines",
            "relation": "are_on",
            "to": "road_main"
        },
        {
            "from": "sidewalk_left",
            "relation": "is_adjacent_to",
            "to": "road_main"
        },
        {
            "from": "sidewalk_right",
            "relation": "is_adjacent_to",
            "to": "road_main"
        },
        {
            "from": "curb_left",
            "relation": "separates",
            "to": "road_main"
        },
        {
            "from": "curb_right",
            "relation": "separates",
            "to": "road_main"
        },
        {
            "from": "trees_left_row",
            "relation": "is_adjacent_to",
            "to": "sidewalk_left"
        },
        {
            "from": "trees_right_row",
            "relation": "is_adjacent_to",
            "to": "sidewalk_right"
        },
        {
            "from": "fence_right",
            "relation": "is_along",
            "to": "sidewalk_right"
        },
        {
            "from": "buildings_left_cluster",
            "relation": "are_near",
            "to": "trees_left_row"
        },
        {
            "from": "buildings_right_cluster",
            "relation": "are_near",
            "to": "trees_right_row"
        },
        {
            "from": "current_location",
            "relation": "is_on",
            "to": "road_main"
        }
    ],
    "current_location": "current_location",
    "plans": [
        {
            "plan_id": "continue_forward",
            "start": "current_location",
            "steps": [
                {
                    "action": "move_forward_along",
                    "target_region": "road_main"
                }
            ]
        }
    ]
}