{
    "objects": [
        {
            "name": "ego_vehicle",
            "type": "vehicle",
            "position": [
                680,
                1040
            ],
            "attributes": {
                "view": "forward"
            }
        },
        {
            "name": "traffic_light_red_1",
            "type": "traffic_light",
            "position": [
                650,
                430
            ],
            "attributes": {
                "color": "red",
                "state": "on"
            }
        },
        {
            "name": "traffic_light_red_2",
            "type": "traffic_light",
            "position": [
                820,
                420
            ],
            "attributes": {
                "color": "red",
                "state": "on"
            }
        },
        {
            "name": "vehicles_1",
            "type": "vehicle",
            "position": [
                680,
                640
            ],
            "attributes": {
                "lane_relative": "center/near"
            }
        },
        {
            "name": "vehicles_2",
            "type": "vehicle",
            "position": [
                740,
                670
            ],
            "attributes": {
                "lane_relative": "center/near"
            }
        },
        {
            "name": "vehicles_3",
            "type": "vehicle",
            "position": [
                860,
                620
            ],
            "attributes": {
                "lane_relative": "far"
            }
        },
        {
            "name": "traffic_light_yellow_signals_1",
            "type": "traffic_light",
            "position": [
                560,
                470
            ],
            "attributes": {
                "shape_context": "signal_head"
            }
        },
        {
            "name": "traffic_light_yellow_signals_2",
            "type": "traffic_light",
            "position": [
                520,
                420
            ],
            "attributes": {
                "shape_context": "signal_head"
            }
        },
        {
            "name": "road_light_post_left",
            "type": "road_infrastructure",
            "position": [
                350,
                520
            ],
            "attributes": {
                "side": "left"
            }
        },
        {
            "name": "road_light_post_right",
            "type": "road_infrastructure",
            "position": [
                1030,
                520
            ],
            "attributes": {
                "side": "right"
            }
        },
        {
            "name": "trees_left_row",
            "type": "vegetation",
            "position": [
                250,
                650
            ],
            "attributes": {
                "side": "left"
            }
        },
        {
            "name": "trees_right_row",
            "type": "vegetation",
            "position": [
                1120,
                650
            ],
            "attributes": {
                "side": "right"
            }
        },
        {
            "name": "crosswalk_1",
            "type": "road_marking",
            "position": [
                680,
                930
            ],
            "attributes": {
                "kind": "crosswalk",
                "side": "foreground"
            }
        },
        {
            "name": "crosswalk_2_far",
            "type": "road_marking",
            "position": [
                690,
                760
            ],
            "attributes": {
                "kind": "crosswalk",
                "side": "midground"
            }
        },
        {
            "name": "lane_markings_center",
            "type": "road_marking",
            "position": [
                690,
                720
            ],
            "attributes": {
                "kind": "lane_lines"
            }
        },
        {
            "name": "lane_markings_left",
            "type": "road_marking",
            "position": [
                610,
                760
            ],
            "attributes": {
                "kind": "lane_lines"
            }
        },
        {
            "name": "lane_markings_right",
            "type": "road_marking",
            "position": [
                770,
                760
            ],
            "attributes": {
                "kind": "lane_lines"
            }
        },
        {
            "name": "buildings_left",
            "type": "building",
            "position": [
                330,
                640
            ],
            "attributes": {
                "side": "left"
            }
        }
    ],
    "regions": [
        {
            "name": "ground_1",
            "type": "road_area",
            "polygon": [
                [
                    80,
                    1100
                ],
                [
                    1260,
                    1100
                ],
                [
                    1220,
                    250
                ],
                [
                    60,
                    250
                ]
            ],
            "attributes": {
                "description": "Top-down drivable road region including intersection area"
            }
        },
        {
            "name": "intersection_area",
            "type": "intersection",
            "polygon": [
                [
                    460,
                    360
                ],
                [
                    910,
                    360
                ],
                [
                    980,
                    820
                ],
                [
                    390,
                    820
                ]
            ],
            "attributes": {
                "includes_crosswalks": true
            }
        },
        {
            "name": "crosswalk_region_front",
            "type": "crosswalk_region",
            "polygon": [
                [
                    420,
                    820
                ],
                [
                    940,
                    820
                ],
                [
                    920,
                    980
                ],
                [
                    440,
                    980
                ]
            ],
            "attributes": {
                "note": "Foreground crosswalk area"
            }
        },
        {
            "name": "approach_lane_region_center",
            "type": "lane_region",
            "polygon": [
                [
                    520,
                    360
                ],
                [
                    860,
                    360
                ],
                [
                    940,
                    900
                ],
                [
                    470,
                    900
                ]
            ],
            "attributes": {
                "direction": "toward_intersection"
            }
        },
        {
            "name": "side_area_left",
            "type": "sidewalk_or_berm",
            "polygon": [
                [
                    60,
                    280
                ],
                [
                    420,
                    280
                ],
                [
                    430,
                    980
                ],
                [
                    60,
                    980
                ]
            ],
            "attributes": {
                "side": "left"
            }
        },
        {
            "name": "side_area_right",
            "type": "sidewalk_or_berm",
            "polygon": [
                [
                    880,
                    280
                ],
                [
                    1220,
                    280
                ],
                [
                    1210,
                    980
                ],
                [
                    860,
                    980
                ]
            ],
            "attributes": {
                "side": "right"
            }
        }
    ],
    "semantic_relationships": [
        {
            "name": "ego_is_on",
            "from": "ego_vehicle",
            "to": "ground_1",
            "relation": "on"
        },
        {
            "name": "vehicles_1_is_in",
            "from": "vehicles_1",
            "to": "approach_lane_region_center",
            "relation": "in"
        },
        {
            "name": "vehicles_2_is_in",
            "from": "vehicles_2",
            "to": "approach_lane_region_center",
            "relation": "in"
        },
        {
            "name": "vehicles_3_is_in",
            "from": "vehicles_3",
            "to": "approach_lane_region_center",
            "relation": "in"
        },
        {
            "name": "crosswalk_1_within",
            "from": "crosswalk_1",
            "to": "crosswalk_region_front",
            "relation": "within"
        },
        {
            "name": "crosswalk_2_far_within",
            "from": "crosswalk_2_far",
            "to": "intersection_area",
            "relation": "within"
        },
        {
            "name": "traffic_lights_affect_intersection",
            "from": "traffic_light_red_1",
            "to": "intersection_area",
            "relation": "controls"
        },
        {
            "name": "traffic_lights_affect_intersection_2",
            "from": "traffic_light_red_2",
            "to": "intersection_area",
            "relation": "controls"
        },
        {
            "name": "traffic_light_signals_near_intersection",
            "from": "traffic_light_yellow_signals_1",
            "to": "intersection_area",
            "relation": "near"
        },
        {
            "name": "traffic_light_signals_near_intersection_2",
            "from": "traffic_light_yellow_signals_2",
            "to": "intersection_area",
            "relation": "near"
        },
        {
            "name": "trees_left_in_side_area",
            "from": "trees_left_row",
            "to": "side_area_left",
            "relation": "in"
        },
        {
            "name": "trees_right_in_side_area",
            "from": "trees_right_row",
            "to": "side_area_right",
            "relation": "in"
        },
        {
            "name": "road_light_post_left_in_side_area",
            "from": "road_light_post_left",
            "to": "side_area_left",
            "relation": "in"
        },
        {
            "name": "road_light_post_right_in_side_area",
            "from": "road_light_post_right",
            "to": "side_area_right",
            "relation": "in"
        },
        {
            "name": "buildings_left_in_side_area",
            "from": "buildings_left",
            "to": "side_area_left",
            "relation": "in"
        },
        {
            "name": "ego_adjacent_crosswalk",
            "from": "ego_vehicle",
            "to": "crosswalk_region_front",
            "relation": "adjacent_to"
        }
    ],
    "current_location": {
        "region": "approach_lane_region_center",
        "object": "ego_vehicle"
    },
    "plans": [
        {
            "plan_name": "proceed_when_signal_allows",
            "target_region": "intersection_area",
            "trigger": "traffic_lights_green_not_detected_here"
        }
    ]
}