{
    "objects": [
        {
            "name": "vehicle_left",
            "type": "car",
            "centroid": {
                "x": 85,
                "y": 395
            }
        },
        {
            "name": "vehicle_red_mid",
            "type": "car",
            "centroid": {
                "x": 430,
                "y": 520
            }
        },
        {
            "name": "vehicle_white_far",
            "type": "car",
            "centroid": {
                "x": 560,
                "y": 455
            }
        },
        {
            "name": "house_left",
            "type": "building",
            "centroid": {
                "x": 120,
                "y": 275
            }
        },
        {
            "name": "house_right",
            "type": "building",
            "centroid": {
                "x": 840,
                "y": 260
            }
        },
        {
            "name": "tree_left_red",
            "type": "tree",
            "centroid": {
                "x": 80,
                "y": 190
            }
        },
        {
            "name": "tree_center_leafless",
            "type": "tree",
            "centroid": {
                "x": 330,
                "y": 240
            }
        },
        {
            "name": "tree_right_red",
            "type": "tree",
            "centroid": {
                "x": 700,
                "y": 210
            }
        },
        {
            "name": "utility_pole_mid",
            "type": "utility_pole",
            "centroid": {
                "x": 560,
                "y": 250
            }
        },
        {
            "name": "sidewalk_right",
            "type": "sidewalk",
            "centroid": {
                "x": 920,
                "y": 420
            }
        },
        {
            "name": "sidewalk_left",
            "type": "sidewalk",
            "centroid": {
                "x": 160,
                "y": 420
            }
        }
    ],
    "regions": [
        {
            "name": "roadway",
            "type": "road",
            "polygon": [
                {
                    "x": 120,
                    "y": 470
                },
                {
                    "x": 260,
                    "y": 520
                },
                {
                    "x": 770,
                    "y": 520
                },
                {
                    "x": 910,
                    "y": 470
                },
                {
                    "x": 770,
                    "y": 820
                },
                {
                    "x": 260,
                    "y": 820
                }
            ]
        },
        {
            "name": "intersection_area",
            "type": "intersection",
            "polygon": [
                {
                    "x": 420,
                    "y": 610
                },
                {
                    "x": 520,
                    "y": 610
                },
                {
                    "x": 560,
                    "y": 680
                },
                {
                    "x": 380,
                    "y": 680
                }
            ]
        },
        {
            "name": "current_location",
            "type": "ego_location",
            "centroid": {
                "x": 515,
                "y": 800
            }
        }
    ],
    "connections": [
        {
            "from": "vehicle_left",
            "to": "sidewalk_left",
            "relation": "parked_near"
        },
        {
            "from": "vehicle_red_mid",
            "to": "roadway",
            "relation": "on"
        },
        {
            "from": "vehicle_white_far",
            "to": "roadway",
            "relation": "on"
        },
        {
            "from": "house_left",
            "to": "sidewalk_left",
            "relation": "adjacent_to"
        },
        {
            "from": "house_right",
            "to": "sidewalk_right",
            "relation": "adjacent_to"
        },
        {
            "from": "tree_left_red",
            "to": "sidewalk_left",
            "relation": "near"
        },
        {
            "from": "tree_center_leafless",
            "to": "roadway",
            "relation": "near"
        },
        {
            "from": "tree_right_red",
            "to": "sidewalk_right",
            "relation": "near"
        },
        {
            "from": "utility_pole_mid",
            "to": "roadway",
            "relation": "along"
        },
        {
            "from": "intersection_area",
            "to": "roadway",
            "relation": "part_of"
        }
    ],
    "plans": [
        {
            "name": "approach_intersection",
            "current_location": "current_location",
            "goal_region": "intersection_area",
            "path_hints": [
                {
                    "x": 515,
                    "y": 780
                },
                {
                    "x": 485,
                    "y": 720
                },
                {
                    "x": 470,
                    "y": 675
                }
            ]
        }
    ]
}