{
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                ],
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                ],
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        {
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        {
            "name": "current_location",
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                ],
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            "name": "cars_ahead",
            "type": "vehicle",
            "position": [
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            ]
        },
        {
            "name": "street_sign",
            "type": "sign",
            "position": [
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            ]
        },
        {
            "name": "utility_poles",
            "type": "infrastructure",
            "position": [
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            ]
        },
        {
            "name": "trees_left",
            "type": "vegetation",
            "position": [
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            ]
        },
        {
            "name": "trees_right",
            "type": "vegetation",
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            ]
        },
        {
            "name": "left_buildings",
            "type": "building",
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            ]
        },
        {
            "name": "right_buildings",
            "type": "building",
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            ]
        }
    ],
    "semantic_relationships": [
        {
            "subject": "current_location",
            "relation": "contains",
            "object": "cars_ahead"
        },
        {
            "subject": "roadway",
            "relation": "adjacent_to",
            "object": "left_sidewalk"
        },
        {
            "subject": "roadway",
            "relation": "adjacent_to",
            "object": "right_sidewalk"
        },
        {
            "subject": "left_sidewalk",
            "relation": "adjacent_to",
            "object": "left_buildings_area"
        },
        {
            "subject": "right_sidewalk",
            "relation": "adjacent_to",
            "object": "right_buildings_area"
        },
        {
            "subject": "left_buildings_area",
            "relation": "contains",
            "object": "left_buildings"
        },
        {
            "subject": "right_buildings_area",
            "relation": "contains",
            "object": "right_buildings"
        },
        {
            "subject": "roadway",
            "relation": "has_object",
            "object": "cars_ahead"
        },
        {
            "subject": "right_sidewalk",
            "relation": "has_object",
            "object": "street_sign"
        },
        {
            "subject": "roadway",
            "relation": "has_object",
            "object": "utility_poles"
        },
        {
            "subject": "right_sidewalk",
            "relation": "has_object",
            "object": "trees_right"
        },
        {
            "subject": "left_sidewalk",
            "relation": "has_object",
            "object": "trees_left"
        }
    ],
    "current_location": "current_location",
    "plans": []
}