{
    "objects": [
        {
            "name": "motor_coach",
            "type": "vehicle",
            "coord": {
                "x": 290,
                "y": 210
            }
        },
        {
            "name": "sedan_blue",
            "type": "vehicle",
            "coord": {
                "x": 430,
                "y": 240
            }
        },
        {
            "name": "car_gray_right",
            "type": "vehicle",
            "coord": {
                "x": 615,
                "y": 265
            }
        },
        {
            "name": "street_light_right",
            "type": "street_light",
            "coord": {
                "x": 650,
                "y": 140
            }
        },
        {
            "name": "stop_sign",
            "type": "traffic_sign",
            "coord": {
                "x": 695,
                "y": 220
            }
        },
        {
            "name": "street_sign_pole_left",
            "type": "street_sign_pole",
            "coord": {
                "x": 645,
                "y": 270
            }
        },
        {
            "name": "pedestrian",
            "type": "person",
            "coord": {
                "x": 555,
                "y": 305
            }
        }
    ],
    "regions": [
        {
            "name": "current_location",
            "type": "road_intersection_area",
            "coord": {
                "x": 470,
                "y": 280
            }
        },
        {
            "name": "left_buildings_row",
            "type": "building_strip",
            "coord": {
                "x": 220,
                "y": 170
            }
        },
        {
            "name": "center_street_space",
            "type": "open_street_space",
            "coord": {
                "x": 420,
                "y": 300
            }
        },
        {
            "name": "right_side_buildings_row",
            "type": "building_strip",
            "coord": {
                "x": 715,
                "y": 180
            }
        },
        {
            "name": "right_shopfronts",
            "type": "shopfront_strip",
            "coord": {
                "x": 770,
                "y": 210
            }
        },
        {
            "name": "crosswalk_markings",
            "type": "road_markings",
            "coord": {
                "x": 470,
                "y": 395
            }
        },
        {
            "name": "yellow_turn_lane_markings",
            "type": "road_markings",
            "coord": {
                "x": 460,
                "y": 245
            }
        }
    ],
    "connections": [
        {
            "from": "motor_coach",
            "to": "current_location",
            "relation": "on"
        },
        {
            "from": "sedan_blue",
            "to": "current_location",
            "relation": "on"
        },
        {
            "from": "car_gray_right",
            "to": "current_location",
            "relation": "near"
        },
        {
            "from": "pedestrian",
            "to": "current_location",
            "relation": "walking_on"
        },
        {
            "from": "motor_coach",
            "to": "left_buildings_row",
            "relation": "in_front_of"
        },
        {
            "from": "car_gray_right",
            "to": "right_side_buildings_row",
            "relation": "in_front_of"
        },
        {
            "from": "stop_sign",
            "to": "current_location",
            "relation": "controls"
        },
        {
            "from": "street_light_right",
            "to": "current_location",
            "relation": "adjacent_to"
        },
        {
            "from": "motor_coach",
            "to": "yellow_turn_lane_markings",
            "relation": "near"
        },
        {
            "from": "pedestrian",
            "to": "crosswalk_markings",
            "relation": "near"
        }
    ],
    "current_location": "current_location",
    "plans": [
        {
            "name": "vehicle_navigation_through_intersection",
            "start": "current_location",
            "target": "right_side_buildings_row",
            "constraints": [
                "yield_to_pedestrian",
                "follow_stop_sign_when_applicable"
            ]
        }
    ]
}