{
    "objects": [
        {
            "name": "vehicle_1",
            "type": "car",
            "coord": [
                520,
                210
            ]
        },
        {
            "name": "vehicle_2",
            "type": "car",
            "coord": [
                620,
                250
            ]
        },
        {
            "name": "vehicle_3",
            "type": "car",
            "coord": [
                700,
                290
            ]
        },
        {
            "name": "vehicle_4",
            "type": "car",
            "coord": [
                820,
                230
            ]
        },
        {
            "name": "overhead_wire_1",
            "type": "utility_wire",
            "coord": [
                800,
                70
            ]
        }
    ],
    "regions": [
        {
            "name": "road_lane_center",
            "type": "road_lane",
            "polygon": [
                [
                    450,
                    130
                ],
                [
                    1000,
                    120
                ],
                [
                    1000,
                    420
                ],
                [
                    450,
                    440
                ]
            ]
        },
        {
            "name": "road_edge_left",
            "type": "road_edge",
            "polygon": [
                [
                    440,
                    150
                ],
                [
                    500,
                    420
                ],
                [
                    470,
                    430
                ],
                [
                    410,
                    160
                ]
            ]
        },
        {
            "name": "road_edge_right",
            "type": "road_edge",
            "polygon": [
                [
                    1000,
                    130
                ],
                [
                    1005,
                    430
                ],
                [
                    970,
                    440
                ],
                [
                    960,
                    140
                ]
            ]
        },
        {
            "name": "sidewalk_or_grass_right",
            "type": "roadside_grass",
            "polygon": [
                [
                    1005,
                    200
                ],
                [
                    1240,
                    150
                ],
                [
                    1240,
                    470
                ],
                [
                    1005,
                    440
                ]
            ]
        },
        {
            "name": "tree_line_left",
            "type": "tree_line",
            "polygon": [
                [
                    0,
                    120
                ],
                [
                    380,
                    120
                ],
                [
                    460,
                    440
                ],
                [
                    0,
                    430
                ]
            ]
        },
        {
            "name": "tree_line_right",
            "type": "tree_line",
            "polygon": [
                [
                    960,
                    120
                ],
                [
                    1300,
                    120
                ],
                [
                    1300,
                    450
                ],
                [
                    960,
                    430
                ]
            ]
        },
        {
            "name": "sky",
            "type": "sky",
            "polygon": [
                [
                    0,
                    0
                ],
                [
                    1300,
                    0
                ],
                [
                    1300,
                    140
                ],
                [
                    0,
                    140
                ]
            ]
        },
        {
            "name": "hood_area",
            "type": "vehicle_view_area",
            "polygon": [
                [
                    0,
                    430
                ],
                [
                    1300,
                    430
                ],
                [
                    1300,
                    600
                ],
                [
                    0,
                    600
                ]
            ]
        },
        {
            "name": "current_location",
            "type": "ego_vehicle_location",
            "coord": [
                650,
                470
            ]
        }
    ],
    "connections": [
        {
            "from": "vehicle_1",
            "to": "road_lane_center",
            "relation": "on"
        },
        {
            "from": "vehicle_2",
            "to": "road_lane_center",
            "relation": "on"
        },
        {
            "from": "vehicle_3",
            "to": "road_lane_center",
            "relation": "on"
        },
        {
            "from": "vehicle_4",
            "to": "road_lane_center",
            "relation": "on"
        },
        {
            "from": "road_lane_center",
            "to": "road_edge_left",
            "relation": "adjacent_to"
        },
        {
            "from": "road_lane_center",
            "to": "road_edge_right",
            "relation": "adjacent_to"
        },
        {
            "from": "sidewalk_or_grass_right",
            "to": "road_edge_right",
            "relation": "adjacent_to"
        },
        {
            "from": "tree_line_left",
            "to": "road_edge_left",
            "relation": "adjacent_to"
        },
        {
            "from": "tree_line_right",
            "to": "road_edge_right",
            "relation": "adjacent_to"
        },
        {
            "from": "overhead_wire_1",
            "to": "sky",
            "relation": "crosses"
        }
    ],
    "semantic_summary": {
        "current_location": "current_location",
        "nearby_regions": [
            "road_lane_center",
            "road_edge_left",
            "road_edge_right",
            "tree_line_left",
            "tree_line_right",
            "sidewalk_or_grass_right"
        ],
        "nearby_objects": [
            "vehicle_1",
            "vehicle_2",
            "vehicle_3",
            "vehicle_4"
        ]
    },
    "plans": [
        {
            "goal": "follow_road",
            "target_region": "road_lane_center"
        }
    ]
}