diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000000.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..fabd3975f58f3424830abe2b88c0782e0f4c3b4d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 846, "y1": 562, "x2": 1071, "y2": 735, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 579, "y1": 503, "x2": 785, "y2": 695, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 164, "y1": 589, "x2": 681, "y2": 903, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 759, "y1": 536, "x2": 876, "y2": 624, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 264, "y1": 527, "x2": 394, "y2": 604, "logit": 0.0, "location": [28.82248945487663, 11.309113268041983, 0.5699094850497204], "size": [1.9095011949539185, 4.697348117828369, 1.8716399669647217], "instance_token": "88d12bbe69c85299"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 819, "y1": 521, "x2": 900, "y2": 580, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 530, "x2": 263, "y2": 568, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 435, "y1": 528, "x2": 568, "y2": 590, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1056, "y1": 513, "x2": 1118, "y2": 573, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 878, "y1": 514, "x2": 922, "y2": 563, "logit": 0.0, "location": [54.95738026779145, 2.0809417166747153, 0.7543455983541207], "size": [2.022120475769043, 5.139110565185547, 1.857375144958496], "instance_token": "4c4c22cbd903553e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000001.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5e597906807e933f65b77f01184dfe641dfa2ed
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 827, "y1": 569, "x2": 1076, "y2": 769, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 533, "y1": 503, "x2": 767, "y2": 719, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 42, "y1": 599, "x2": 649, "y2": 967, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 739, "y1": 539, "x2": 871, "y2": 629, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 224, "y1": 528, "x2": 363, "y2": 604, "logit": 0.0, "location": [28.82248945487663, 11.309113268041983, 0.5699094850497204], "size": [1.9095011949539185, 4.697348117828369, 1.8716399669647217], "instance_token": "88d12bbe69c85299"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 811, "y1": 523, "x2": 892, "y2": 582, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 531, "x2": 225, "y2": 610, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 382, "y1": 531, "x2": 532, "y2": 607, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1059, "y1": 514, "x2": 1123, "y2": 577, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 876, "y1": 514, "x2": 918, "y2": 569, "logit": 0.0, "location": [54.95738026779145, 2.0809417166747153, 0.7543455983541207], "size": [2.022120475769043, 5.139110565185547, 1.857375144958496], "instance_token": "4c4c22cbd903553e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000002.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..70bde014c7e90dd7ef0e28230fd558affb0a62c0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 806, "y1": 578, "x2": 1095, "y2": 807, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 482, "y1": 503, "x2": 748, "y2": 742, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 610, "x2": 609, "y2": 1052, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 721, "y1": 541, "x2": 862, "y2": 638, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 210, "y1": 529, "x2": 339, "y2": 572, "logit": 0.0, "location": [28.82248945487663, 11.309113268041983, 0.5699094850497204], "size": [1.9095011949539185, 4.697348117828369, 1.8716399669647217], "instance_token": "88d12bbe69c85299"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 803, "y1": 525, "x2": 889, "y2": 586, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 531, "x2": 222, "y2": 630, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 319, "y1": 533, "x2": 486, "y2": 628, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 515, "x2": 1127, "y2": 581, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 871, "y1": 516, "x2": 912, "y2": 570, "logit": 0.0, "location": [54.95738026779145, 2.0809417166747153, 0.7543455983541207], "size": [2.022120475769043, 5.139110565185547, 1.857375144958496], "instance_token": "4c4c22cbd903553e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000003.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a006d6495a98add01dc9c976f87a8de5e9a8b0b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 783, "y1": 586, "x2": 1105, "y2": 845, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 423, "y1": 503, "x2": 728, "y2": 765, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 626, "x2": 559, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 704, "y1": 544, "x2": 856, "y2": 645, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 203, "y1": 530, "x2": 311, "y2": 543, "logit": 0.0, "location": [28.82248945487663, 11.309113268041983, 0.5699094850497204], "size": [1.9095011949539185, 4.697348117828369, 1.8716399669647217], "instance_token": "88d12bbe69c85299"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 792, "y1": 526, "x2": 884, "y2": 590, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 532, "x2": 201, "y2": 640, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 264, "y1": 535, "x2": 439, "y2": 659, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1062, "y1": 516, "x2": 1128, "y2": 584, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 865, "y1": 517, "x2": 908, "y2": 572, "logit": 0.0, "location": [54.95738026779145, 2.0809417166747153, 0.7543455983541207], "size": [2.022120475769043, 5.139110565185547, 1.857375144958496], "instance_token": "4c4c22cbd903553e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000004.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..47a8cdc3953898f143e6a495e12f8f86f25bfc05
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 757, "y1": 594, "x2": 1112, "y2": 882, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 369, "y1": 502, "x2": 709, "y2": 785, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 645, "x2": 501, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 688, "y1": 545, "x2": 846, "y2": 644, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 784, "y1": 527, "x2": 878, "y2": 594, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 15, "y1": 531, "x2": 223, "y2": 639, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 101, "y1": 536, "x2": 400, "y2": 694, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1062, "y1": 517, "x2": 1128, "y2": 586, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000005.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..d047ef9fdb9761484f2ce697914526bad609108f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 733, "y1": 598, "x2": 1119, "y2": 916, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 326, "y1": 500, "x2": 693, "y2": 800, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 665, "x2": 450, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 672, "y1": 545, "x2": 839, "y2": 649, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 774, "y1": 526, "x2": 873, "y2": 598, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 100, "y1": 528, "x2": 262, "y2": 548, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 59, "y1": 537, "x2": 368, "y2": 740, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1060, "y1": 515, "x2": 1127, "y2": 586, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000006.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbf73b36337eb8bc9dd559206f02ce3652def55b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 716, "y1": 604, "x2": 1125, "y2": 940, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 298, "y1": 499, "x2": 682, "y2": 815, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 696, "x2": 411, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 664, "y1": 547, "x2": 835, "y2": 652, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 528, "x2": 867, "y2": 604, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 138, "y1": 528, "x2": 341, "y2": 565, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 27, "y1": 538, "x2": 347, "y2": 762, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 516, "x2": 1127, "y2": 588, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000007.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3190719baa488d703797775b3bf6d5418a8f4d8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 709, "y1": 605, "x2": 1128, "y2": 949, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 286, "y1": 498, "x2": 677, "y2": 819, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 702, "x2": 394, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 546, "x2": 834, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 767, "y1": 526, "x2": 861, "y2": 605, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 271, "y1": 525, "x2": 388, "y2": 579, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 14, "y1": 537, "x2": 337, "y2": 763, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 516, "x2": 1128, "y2": 587, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000008.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91773936cc4c03c0a403fbfcedc1e3a9fcbff1f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 711, "y1": 611, "x2": 1128, "y2": 952, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 289, "y1": 504, "x2": 678, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 705, "x2": 396, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 552, "x2": 833, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 531, "x2": 863, "y2": 610, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 279, "y1": 529, "x2": 388, "y2": 582, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 15, "y1": 537, "x2": 338, "y2": 768, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 522, "x2": 1128, "y2": 593, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1683, "y1": 555, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000009.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a28054bedb6b933f8190df6034f12993535854
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 948, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 704, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 661, "y1": 551, "x2": 834, "y2": 656, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 769, "y1": 530, "x2": 866, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 308, "y1": 529, "x2": 387, "y2": 583, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 16, "y1": 535, "x2": 339, "y2": 767, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 520, "x2": 1128, "y2": 592, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1824, "y1": 554, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000010.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..445966899bd47178de4ede01e76b785b31688020
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 952, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 703, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 833, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 769, "y1": 530, "x2": 864, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 331, "y1": 529, "x2": 387, "y2": 581, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 13, "y1": 535, "x2": 338, "y2": 767, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1062, "y1": 521, "x2": 1128, "y2": 592, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1772, "y1": 555, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000011.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..09bc6dafeb22e7ea8166fcac8d815a2857f5b442
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 948, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 706, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 661, "y1": 551, "x2": 834, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 769, "y1": 530, "x2": 863, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 350, "y1": 534, "x2": 386, "y2": 578, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 13, "y1": 535, "x2": 338, "y2": 767, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1062, "y1": 521, "x2": 1128, "y2": 592, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1881, "y1": 1048, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000012.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d870c56f6fc884bc885f10f5955076de776a13
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 711, "y1": 608, "x2": 1125, "y2": 948, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 286, "y1": 502, "x2": 678, "y2": 821, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 704, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 833, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 771, "y1": 531, "x2": 867, "y2": 608, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 349, "y1": 535, "x2": 387, "y2": 578, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 12, "y1": 535, "x2": 338, "y2": 767, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 520, "x2": 1128, "y2": 590, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1884, "y1": 1050, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1131, "y1": 540, "x2": 1388, "y2": 726, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000013.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cdcfa4f9c52905a1c319f7db7f0495210b0884
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1126, "y2": 947, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 705, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 833, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 530, "x2": 867, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 349, "y1": 535, "x2": 388, "y2": 579, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 12, "y1": 534, "x2": 338, "y2": 766, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1060, "y1": 520, "x2": 1127, "y2": 584, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1884, "y1": 1048, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1106, "y1": 537, "x2": 1316, "y2": 694, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000014.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f063f4f732e5ed7fc2ea6a46d1a78b521b379e3
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 947, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 705, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 834, "y2": 654, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 530, "x2": 868, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 349, "y1": 535, "x2": 388, "y2": 579, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 14, "y1": 534, "x2": 338, "y2": 766, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 520, "x2": 1124, "y2": 584, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1884, "y1": 1049, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1088, "y1": 534, "x2": 1271, "y2": 671, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000015.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..18a078b9ae17ee2a1e4832ab0eac6730bcb285a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 947, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 821, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 705, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 661, "y1": 551, "x2": 834, "y2": 651, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 530, "x2": 867, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 348, "y1": 535, "x2": 389, "y2": 579, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 14, "y1": 534, "x2": 339, "y2": 767, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1061, "y1": 519, "x2": 1120, "y2": 578, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1883, "y1": 1048, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1082, "y1": 533, "x2": 1239, "y2": 656, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000016.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..42446d9b8ade8985ce319dae33867a8f11cee199
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000016.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000017.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f5c4a65b71daabe93b5f2230f87ac52aac1ddd
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 944, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 286, "y1": 502, "x2": 677, "y2": 822, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 706, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 834, "y2": 650, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 530, "x2": 869, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 355, "y1": 535, "x2": 387, "y2": 569, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 15, "y1": 534, "x2": 338, "y2": 766, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1059, "y1": 519, "x2": 1118, "y2": 559, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1883, "y1": 1048, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1077, "y1": 531, "x2": 1200, "y2": 637, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000018.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..a046eeb225737fec598ed3670820cfeeab720851
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 942, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 502, "x2": 677, "y2": 821, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 706, "x2": 395, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 833, "y2": 650, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 530, "x2": 868, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 355, "y1": 534, "x2": 387, "y2": 560, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 15, "y1": 534, "x2": 338, "y2": 767, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1059, "y1": 519, "x2": 1118, "y2": 549, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1883, "y1": 1049, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1074, "y1": 531, "x2": 1186, "y2": 630, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000019.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..209c549188c4783cc078b81a9cc642531fb26bf6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 710, "y1": 609, "x2": 1129, "y2": 943, "logit": 0.0, "location": [15.230238148011267, -0.023393449606373906, 0.44598508551280247], "size": [1.8873636722564697, 4.463968753814697, 1.4733484983444214], "instance_token": "9b0cc0d3aa66577c"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 287, "y1": 503, "x2": 677, "y2": 821, "logit": 0.0, "location": [17.879537572152913, 2.9504991145804524, 0.7214781783113722], "size": [1.8793069124221802, 4.472901344299316, 1.9924840927124023], "instance_token": "087f35eef6585ccf"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 706, "x2": 394, "y2": 1079, "logit": 0.0, "location": [9.539944438729435, 2.7805061617400497, 0.39853927458898397], "size": [1.9113301038742065, 4.7105278968811035, 1.5192744731903076], "instance_token": "318b8e85638655c3"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 660, "y1": 551, "x2": 833, "y2": 651, "logit": 0.0, "location": [27.593380491249263, 2.4180374413263053, 0.5125891571879038], "size": [1.9159716367721558, 4.652652740478516, 1.5627714395523071], "instance_token": "63e67f885a61579d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 770, "y1": 530, "x2": 868, "y2": 609, "logit": 0.0, "location": [37.20423397514969, 2.4296783325262368, 0.6167489590807236], "size": [1.8983285427093506, 4.477867603302002, 1.7518852949142456], "instance_token": "3642454700515e34"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 356, "y1": 534, "x2": 387, "y2": 555, "logit": 0.0, "location": [21.389812079723924, 11.047330430708826, 0.48253996026323875], "size": [1.937049150466919, 4.692674160003662, 1.8338388204574585], "instance_token": "376227aa7f0650cd"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 15, "y1": 534, "x2": 338, "y2": 766, "logit": 0.0, "location": [38.81758023891598, 11.49724971759133, 0.5255597751311143], "size": [1.8933216333389282, 4.57435941696167, 1.722312092781067], "instance_token": "d587886aa49555b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1060, "y1": 519, "x2": 1119, "y2": 545, "logit": 0.0, "location": [49.8612417136319, -3.948506030952558, 0.8216317461337894], "size": [2.16841721534729, 5.095690727233887, 2.0136842727661133], "instance_token": "ea2dab12d4a15a94"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1884, "y1": 1049, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.189269333612174, -2.8558612940832973, 0.5881069572205888], "size": [2.032339334487915, 4.862310409545898, 1.75627601146698], "instance_token": "4e3af51b897c5a8c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1068, "y1": 530, "x2": 1175, "y2": 625, "logit": 0.0, "location": [18.020738534629345, -2.878371879691258, 0.5221537244215142], "size": [1.9871772527694702, 4.946839332580566, 1.7658756971359253], "instance_token": "4e3af51b897c5a8c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000020.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1bb8b295581b6a52b6bf8be10e6afd1d67db387
--- /dev/null
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000021.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000021.json
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000022.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/json_data/mask_000022.json
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/000020.jpg b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/000020.jpg
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/gt_fut_traj.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/prompt.txt
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index 0000000000000000000000000000000000000000..b2e2d1105eaaa49d64a2179da830768853f8698a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [3.66, 2.64, 1.65, 0.73]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.07, -1.2, -1.18, -1.06
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f1c72cf739379948193f58b584a3215da4734e6e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, silver sedan, in the same lane, stopped at the red light.
+    - Potential Effects: Requires stopping to avoid collision.
+    - Future Behavior: Remain stopped until the light changes.
+  - Object (ID 2): Vehicle, white sedan, in the left lane, stopped.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Remain stopped until the light changes.
+  - Object (ID 4): Vehicle, black SUV, in the right lane, stopped.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Remain stopped until the light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes if necessary.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires the ego car to remain stopped until it turns green.
+- **Driving Plan:** Maintain current position and wait for the light to change. Relevant objects: ID 1.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is correctly positioned to stop due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.73, 0.15, 0.01, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.06, 0.23, -173.8, -177.39
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6dd09887436c2b7897571ccefabd0d1cfefccce0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and avoid overtaking in heavy traffic.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (sedan, gray, in front, brake lights on)
+    - Potential Effects: Requires stopping as it is directly ahead and stopped at a red light.
+    - Future Behavior: Remain stationary until the light changes.
+  - Object 4: Vehicle (SUV, white, to the left)
+    - Potential Effects: May block lane change to the left.
+    - Future Behavior: Likely to remain stationary until the light changes.
+  - Object 9: Vehicle (SUV, white, to the right)
+    - Potential Effects: May block lane change to the right.
+    - Future Behavior: Likely to remain stationary until the light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A DECELERATION
+  - **Explanation:** The ego car was moving forward but decelerated due to the red light and traffic ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change possible but currently blocked by vehicles.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red light and stopped traffic ahead necessitate stopping.
+- **Driving Plan:** Stop behind Object 1 and wait for the light to change.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is correctly predicted to stop due to the red light and traffic ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7da5f8cdfe09546d8e5e621e52af834d60010ce7
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -177.39, -156.68, 141.02, -67.55
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d68f95b33a2707027b545171592f0bed1ad2650a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_0/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 5): Sedan in front, same lane, silver color
+    - Potential Effects: Requires stopping due to red light
+    - Future Behavior: Likely to remain stationary until the light changes
+  - Object (ID 2): Vehicle to the left, white color
+    - Potential Effects: May attempt to change lanes
+    - Future Behavior: Likely to remain in lane until light changes
+  - Object (ID 12): Vehicle to the right, blue color
+    - Potential Effects: May attempt to change lanes
+    - Future Behavior: Likely to remain in lane until light changes
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A DECELERATION
+  - **Explanation:** Approaching a red light, requiring a stop.
+  - **Lane Association:**
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane change possible if necessary.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red light requires stopping, and the vehicle in front is stationary.
+- **Driving Plan:** Stop behind the vehicle in front (ID 5) and wait for the light to change.
+
+*****Reflection:*****
+- **Self-Consistency:** The plan to stop is consistent with the red light and the stationary vehicle in front.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000000.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000000.json
new file mode 100644
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000001.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000001.json
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 909, "y1": 541, "x2": 1068, "y2": 668, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 896, "y1": 514, "x2": 949, "y2": 555, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 967, "y1": 512, "x2": 1054, "y2": 568, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1099, "y1": 514, "x2": 1181, "y2": 583, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1247, "y1": 536, "x2": 1646, "y2": 810, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63309"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000002.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e0d86b3b5572b2218713148cc963bc964ef592
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 912, "y1": 554, "x2": 1071, "y2": 683, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 903, "y1": 525, "x2": 952, "y2": 564, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 954, "y1": 524, "x2": 1056, "y2": 581, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1097, "y1": 525, "x2": 1177, "y2": 592, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1242, "y1": 548, "x2": 1589, "y2": 789, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "63341"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000003.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..988716f1f68d26512901a7f0ccf7cf5b47e661d9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 917, "y1": 553, "x2": 1078, "y2": 685, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 905, "y1": 521, "x2": 953, "y2": 559, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 973, "y1": 524, "x2": 1063, "y2": 577, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1096, "y1": 525, "x2": 1174, "y2": 588, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1242, "y1": 543, "x2": 1548, "y2": 762, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63341"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000004.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..8348d54740b1a9b6fec2b22233a2830c92885b85
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 921, "y1": 555, "x2": 1084, "y2": 690, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 904, "y1": 521, "x2": 951, "y2": 559, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 975, "y1": 525, "x2": 1065, "y2": 576, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1091, "y1": 527, "x2": 1168, "y2": 588, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1239, "y1": 542, "x2": 1515, "y2": 741, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1152, "y1": 505, "x2": 1245, "y2": 547, "logit": 0.0, "location": [71.79554433887824, -10.800375002902001, 1.4630734139573178], "size": [2.024094820022583, 5.061474323272705, 2.1395089626312256], "instance_token": "ca2035e6710858c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 534, "x2": 178, "y2": 602, "logit": 0.0, "location": [38.162563101854175, 20.503390830592252, 0.3503034271270735], "size": [1.924174427986145, 4.883055686950684, 1.7594236135482788], "instance_token": "96ededbcd7905a40"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63341"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000005.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e08343e317d4534b9fe8b5afb88f5bc7cc3fd21
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 926, "y1": 557, "x2": 1090, "y2": 692, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 905, "y1": 522, "x2": 948, "y2": 557, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 980, "y1": 528, "x2": 1068, "y2": 576, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1090, "y1": 527, "x2": 1163, "y2": 586, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1235, "y1": 542, "x2": 1488, "y2": 722, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1154, "y1": 506, "x2": 1248, "y2": 554, "logit": 0.0, "location": [71.79554433887824, -10.800375002902001, 1.4630734139573178], "size": [2.024094820022583, 5.061474323272705, 2.1395089626312256], "instance_token": "ca2035e6710858c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 551, "x2": 74, "y2": 599, "logit": 0.0, "location": [38.162563101854175, 20.503390830592252, 0.3503034271270735], "size": [1.924174427986145, 4.883055686950684, 1.7594236135482788], "instance_token": "96ededbcd7905a40"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000006.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb85a9008f9ae283777a971b2e80b4b99f9244fc
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 930, "y1": 553, "x2": 1096, "y2": 689, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 899, "y1": 512, "x2": 942, "y2": 548, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 981, "y1": 521, "x2": 1068, "y2": 558, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1084, "y1": 518, "x2": 1156, "y2": 578, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1229, "y1": 533, "x2": 1461, "y2": 700, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1151, "y1": 500, "x2": 1258, "y2": 549, "logit": 0.0, "location": [71.79554433887824, -10.800375002902001, 1.4630734139573178], "size": [2.024094820022583, 5.061474323272705, 2.1395089626312256], "instance_token": "ca2035e6710858c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [38.162563101854175, 20.503390830592252, 0.3503034271270735], "size": [1.924174427986145, 4.883055686950684, 1.7594236135482788], "instance_token": "96ededbcd7905a40"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000007.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2e26d90e74c124eba4d0056a06b29484bc21295
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 934, "y1": 550, "x2": 1099, "y2": 684, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 893, "y1": 510, "x2": 935, "y2": 544, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 979, "y1": 518, "x2": 1065, "y2": 552, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1074, "y1": 514, "x2": 1145, "y2": 573, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1220, "y1": 530, "x2": 1436, "y2": 687, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.212334166280925, 16.021383235929534, 0.41338329006430286], "size": [1.8793933391571045, 4.689952373504639, 1.618184208869934], "instance_token": "58f16cb9ffdd5512"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1151, "y1": 497, "x2": 1269, "y2": 555, "logit": 0.0, "location": [71.79554433887824, -10.800375002902001, 1.4630734139573178], "size": [2.024094820022583, 5.061474323272705, 2.1395089626312256], "instance_token": "ca2035e6710858c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [38.162563101854175, 20.503390830592252, 0.3503034271270735], "size": [1.924174427986145, 4.883055686950684, 1.7594236135482788], "instance_token": "96ededbcd7905a40"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000008.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d1e5f2fe0e71c39ffbfc6b6c5de22808257e2cc
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 924, "y1": 553, "x2": 1086, "y2": 683, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 874, "y1": 511, "x2": 913, "y2": 547, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 966, "y1": 520, "x2": 1053, "y2": 555, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1055, "y1": 515, "x2": 1120, "y2": 573, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1194, "y1": 532, "x2": 1398, "y2": 678, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 286, "y1": 531, "x2": 668, "y2": 800, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000009.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2859a855c937d720c68f3c4555a7b1e6eda1288
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 916, "y1": 553, "x2": 1073, "y2": 679, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 853, "y1": 512, "x2": 892, "y2": 547, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 947, "y1": 519, "x2": 1036, "y2": 554, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1032, "y1": 514, "x2": 1096, "y2": 571, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1168, "y1": 530, "x2": 1362, "y2": 669, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 423, "y1": 527, "x2": 710, "y2": 740, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000010.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..0848f7c9e57d761551c821571ab7793fbdb1892a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 906, "y1": 550, "x2": 1057, "y2": 672, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 837, "y1": 514, "x2": 876, "y2": 546, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 931, "y1": 517, "x2": 1010, "y2": 555, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1011, "y1": 511, "x2": 1074, "y2": 566, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1144, "y1": 534, "x2": 1324, "y2": 662, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 508, "y1": 524, "x2": 735, "y2": 697, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000011.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45ec03b9f7c6297b045daf18cccb2440dc5ab20
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 899, "y1": 553, "x2": 1048, "y2": 672, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 828, "y1": 516, "x2": 866, "y2": 549, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 921, "y1": 518, "x2": 998, "y2": 560, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 999, "y1": 513, "x2": 1057, "y2": 564, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1126, "y1": 536, "x2": 1297, "y2": 659, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 571, "y1": 524, "x2": 754, "y2": 669, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000012.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..35312fa3c6da07d86480ccc29ecc23d49b069246
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 889, "y1": 547, "x2": 1034, "y2": 662, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 818, "y1": 515, "x2": 855, "y2": 545, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 908, "y1": 513, "x2": 987, "y2": 555, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 984, "y1": 510, "x2": 1041, "y2": 560, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1106, "y1": 530, "x2": 1273, "y2": 648, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 608, "y1": 517, "x2": 760, "y2": 641, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1762, "y1": 478, "x2": 1919, "y2": 545, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000013.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e700c60f31444156a7ffe33f3cb4afb0b21dcb
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 878, "y1": 546, "x2": 1017, "y2": 659, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 808, "y1": 519, "x2": 844, "y2": 549, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 898, "y1": 515, "x2": 975, "y2": 552, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 971, "y1": 513, "x2": 1026, "y2": 562, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1086, "y1": 529, "x2": 1246, "y2": 642, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 634, "y1": 517, "x2": 766, "y2": 627, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1819, "y1": 479, "x2": 1919, "y2": 519, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000014.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..312cdb764b01df0b7c74b27b2570cdeb715f56c0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 871, "y1": 542, "x2": 1004, "y2": 647, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 802, "y1": 518, "x2": 838, "y2": 548, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 891, "y1": 512, "x2": 964, "y2": 545, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 962, "y1": 514, "x2": 1014, "y2": 560, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1069, "y1": 524, "x2": 1223, "y2": 634, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 656, "y1": 513, "x2": 771, "y2": 610, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000015.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fb553345aa3f1f43fdef8d144bb0db046f9878f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 865, "y1": 539, "x2": 992, "y2": 639, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 799, "y1": 523, "x2": 838, "y2": 549, "logit": 0.0, "location": [58.609691912774, 1.5326550550526008, 0.6399710664099985], "size": [1.9030624628067017, 4.532688140869141, 1.5951589345932007], "instance_token": "5e227712537156dc"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 885, "y1": 510, "x2": 959, "y2": 541, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 959, "y1": 516, "x2": 1009, "y2": 561, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1053, "y1": 522, "x2": 1202, "y2": 628, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 675, "y1": 513, "x2": 776, "y2": 599, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000016.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a07c8dc4aa310963d50be7a9cb04b729b720952
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000016.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000017.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c45f15b39f89387868df3b96b9f9e3187cc5c9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 855, "y1": 540, "x2": 968, "y2": 630, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 880, "y1": 518, "x2": 946, "y2": 543, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 946, "y1": 525, "x2": 996, "y2": 568, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1029, "y1": 523, "x2": 1161, "y2": 619, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 702, "y1": 518, "x2": 785, "y2": 590, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 255, "y1": 539, "x2": 427, "y2": 640, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000018.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee6604d00a0064bb203baa05c660ebdf480d7c4
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 846, "y1": 542, "x2": 956, "y2": 630, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 865, "y1": 525, "x2": 934, "y2": 550, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 940, "y1": 531, "x2": 990, "y2": 574, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1018, "y1": 527, "x2": 1142, "y2": 619, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 711, "y1": 527, "x2": 786, "y2": 593, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 335, "y1": 538, "x2": 471, "y2": 623, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000019.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab72dba25c4ea4204fd1e856e572dad6d6aeced
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 837, "y1": 539, "x2": 946, "y2": 626, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 863, "y1": 525, "x2": 929, "y2": 551, "logit": 0.0, "location": [36.6680104364641, -1.0326400951016694, 0.697129683507228], "size": [2.07295298576355, 4.840397834777832, 2.002368211746216], "instance_token": "fae1b75489195336"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 935, "y1": 532, "x2": 982, "y2": 573, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1007, "y1": 525, "x2": 1124, "y2": 615, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 717, "y1": 528, "x2": 787, "y2": 588, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [41.7551114265807, -23.808960056689102, 1.8991075669691782], "size": [1.9508492946624756, 4.839116096496582, 1.8547306060791016], "instance_token": "7bbc5e46d0d85685"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 388, "y1": 536, "x2": 503, "y2": 608, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67336"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000020.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3cb8af23554326e178cf9e70598b59104bff495
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 829, "y1": 544, "x2": 935, "y2": 629, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 931, "y1": 538, "x2": 978, "y2": 577, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 994, "y1": 532, "x2": 1108, "y2": 617, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 726, "y1": 535, "x2": 790, "y2": 590, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 429, "y1": 542, "x2": 527, "y2": 603, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1424, "y1": 483, "x2": 1846, "y2": 706, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67336"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000021.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7aefd9bc30ed0e0c1d2e76782643438b651ba3
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 842, "y1": 550, "x2": 946, "y2": 633, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 945, "y1": 542, "x2": 994, "y2": 581, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1001, "y1": 537, "x2": 1110, "y2": 619, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 750, "y1": 539, "x2": 810, "y2": 592, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 478, "y1": 546, "x2": 566, "y2": 601, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1557, "y1": 479, "x2": 1919, "y2": 758, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67336"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000022.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd6cd7c702497fb6b4f133a92663f091a7db91a1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 866, "y1": 552, "x2": 970, "y2": 636, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 970, "y1": 543, "x2": 1018, "y2": 581, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1023, "y1": 541, "x2": 1124, "y2": 621, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 786, "y1": 541, "x2": 842, "y2": 590, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 533, "y1": 547, "x2": 613, "y2": 596, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1773, "y1": 577, "x2": 1919, "y2": 819, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67336"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000023.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2e6ae90b9f5d4ff6fde99ce3703546ae0e5e9e5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 886, "y1": 556, "x2": 990, "y2": 640, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 985, "y1": 546, "x2": 1035, "y2": 583, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1036, "y1": 546, "x2": 1134, "y2": 622, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 813, "y1": 543, "x2": 866, "y2": 590, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 573, "y1": 549, "x2": 649, "y2": 595, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67336"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000024.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..667ae78d033cb2ae2ef75c22b5239626c96c34f6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 900, "y1": 556, "x2": 1003, "y2": 640, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 999, "y1": 545, "x2": 1045, "y2": 580, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1044, "y1": 548, "x2": 1140, "y2": 618, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 833, "y1": 542, "x2": 883, "y2": 585, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 604, "y1": 549, "x2": 674, "y2": 591, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63175"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000025.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e474d11871d8a1d42caa3cfb1acff51599b8e2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 914, "y1": 566, "x2": 1016, "y2": 649, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1011, "y1": 552, "x2": 1058, "y2": 588, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1055, "y1": 553, "x2": 1147, "y2": 625, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 852, "y1": 550, "x2": 900, "y2": 591, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 630, "y1": 555, "x2": 696, "y2": 597, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63175"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000026.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b38bcff4488d32c69ce42543a1486cc100395ed
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 924, "y1": 562, "x2": 1026, "y2": 644, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1022, "y1": 546, "x2": 1067, "y2": 581, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1061, "y1": 549, "x2": 1151, "y2": 618, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 867, "y1": 544, "x2": 912, "y2": 584, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 649, "y1": 549, "x2": 713, "y2": 591, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63175"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000027.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6f6462ef32731b542f4116be5c67a45f03f515
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 933, "y1": 548, "x2": 1031, "y2": 629, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1026, "y1": 532, "x2": 1072, "y2": 568, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1067, "y1": 535, "x2": 1150, "y2": 602, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 880, "y1": 528, "x2": 923, "y2": 566, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 663, "y1": 535, "x2": 725, "y2": 574, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63198"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000028.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..235f455dd33ef7c681917f79dd2b95143f1c08f5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 939, "y1": 544, "x2": 1038, "y2": 623, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1029, "y1": 527, "x2": 1073, "y2": 561, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1071, "y1": 531, "x2": 1152, "y2": 595, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 892, "y1": 523, "x2": 933, "y2": 557, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 671, "y1": 528, "x2": 735, "y2": 568, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 953, "y1": 523, "x2": 1017, "y2": 561, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 481, "x2": 71, "y2": 585, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63198"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000029.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..d210c07fb2da6735dd5d68083d0e60e2e6327f19
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 940, "y1": 546, "x2": 1038, "y2": 623, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1028, "y1": 529, "x2": 1073, "y2": 564, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1068, "y1": 532, "x2": 1149, "y2": 595, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 897, "y1": 526, "x2": 936, "y2": 559, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 674, "y1": 532, "x2": 736, "y2": 571, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 957, "y1": 526, "x2": 1011, "y2": 548, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 25, "y1": 521, "x2": 95, "y2": 588, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63198"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000030.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d9f51bdbc601016d7d6129e3db6c96596136ab
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 939, "y1": 539, "x2": 1036, "y2": 616, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1029, "y1": 522, "x2": 1070, "y2": 555, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1065, "y1": 525, "x2": 1142, "y2": 586, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 900, "y1": 519, "x2": 940, "y2": 552, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 669, "y1": 525, "x2": 734, "y2": 564, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 954, "y1": 520, "x2": 1006, "y2": 549, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 5, "y1": 491, "x2": 60, "y2": 584, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000031.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..2678bf4289ab3e37abed653d708d2ee7761387ab
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 938, "y1": 542, "x2": 1033, "y2": 619, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1032, "y1": 524, "x2": 1072, "y2": 561, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1061, "y1": 529, "x2": 1138, "y2": 589, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 904, "y1": 523, "x2": 940, "y2": 554, "logit": 0.0, "location": [12.776575393974781, 3.339867055648938, 0.6677024937798706], "size": [1.9179725646972656, 4.793496131896973, 1.9353057146072388], "instance_token": "bbbb7c46f8c155ef"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 661, "y1": 527, "x2": 726, "y2": 569, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 952, "y1": 522, "x2": 1007, "y2": 549, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000032.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..2819b87bd6eb84db43f676615c05a3803ed91c19
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000033.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc8b0a26e50564490ead2ac773299ec1aa72381
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 938, "y1": 543, "x2": 1031, "y2": 618, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1058, "y1": 527, "x2": 1086, "y2": 548, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1058, "y1": 530, "x2": 1132, "y2": 588, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 635, "y1": 528, "x2": 704, "y2": 574, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 953, "y1": 524, "x2": 1006, "y2": 545, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 699, "y1": 523, "x2": 752, "y2": 562, "logit": 0.0, "location": [72.20966545818374, 10.106412568711676, 0.5851484431839253], "size": [2.031827688217163, 4.490359306335449, 1.91423761844635], "instance_token": "6fa7fdbe801b5459"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000034.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..e74b202f5865a37eb2b44dc90ef0b3089e99c07d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 938, "y1": 541, "x2": 1029, "y2": 616, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1112, "y1": 525, "x2": 1137, "y2": 560, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1055, "y1": 529, "x2": 1130, "y2": 586, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 618, "y1": 528, "x2": 690, "y2": 575, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 951, "y1": 524, "x2": 1001, "y2": 543, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 683, "y1": 523, "x2": 738, "y2": 563, "logit": 0.0, "location": [72.20966545818374, 10.106412568711676, 0.5851484431839253], "size": [2.031827688217163, 4.490359306335449, 1.91423761844635], "instance_token": "6fa7fdbe801b5459"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000035.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d63c6cc0df9f052034f8a112068a2e419a719d7
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 934, "y1": 545, "x2": 1024, "y2": 618, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1067, "y1": 535, "x2": 1138, "y2": 571, "logit": 0.0, "location": [40.67299062060192, -4.514390033436939, 0.7114717860531528], "size": [2.0266261100769043, 4.675224304199219, 1.954253911972046], "instance_token": "657e80ca0b9a5670"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1052, "y1": 533, "x2": 1128, "y2": 591, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 590, "y1": 531, "x2": 670, "y2": 583, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 946, "y1": 528, "x2": 998, "y2": 547, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [66.89043548097834, 43.42755904153455, 0.4420872528980908], "size": [3.3267769813537598, 13.396774291992188, 4.483066558837891], "instance_token": "1821da1414d85310"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 656, "y1": 526, "x2": 717, "y2": 571, "logit": 0.0, "location": [72.20966545818374, 10.106412568711676, 0.5851484431839253], "size": [2.031827688217163, 4.490359306335449, 1.91423761844635], "instance_token": "6fa7fdbe801b5459"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000036.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..cad164a6648dbb58f171db0ec5b806d9382e1747
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 931, "y1": 544, "x2": 1020, "y2": 615, "logit": 0.0, "location": [20.796616997104138, -0.34751491714268923, 0.4697466061261366], "size": [1.9174669981002808, 4.581478595733643, 1.479360818862915], "instance_token": "92167ad6788352ce"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1051, "y1": 535, "x2": 1125, "y2": 591, "logit": 0.0, "location": [11.356315325479954, -3.309945604763925, 0.5521734886351624], "size": [2.006985664367676, 5.005189895629883, 1.8260281085968018], "instance_token": "10ee0c7361f250b6"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 559, "y1": 531, "x2": 644, "y2": 586, "logit": 0.0, "location": [19.56892233947292, 8.828793885186315, 0.51104180045877], "size": [1.9190853834152222, 4.972881317138672, 1.606927752494812], "instance_token": "34aa0cc0bdfe5186"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [17.01192997349426, -7.472519577713683, 1.0268076654829201], "size": [2.1423516273498535, 5.097649574279785, 2.1728157997131348], "instance_token": "ca2035e6710858c3"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 944, "y1": 528, "x2": 994, "y2": 545, "logit": 0.0, "location": [49.42950284248218, -0.6087976376293227, 0.7180731994130838], "size": [2.046583414077759, 4.850493907928467, 2.0042219161987305], "instance_token": "fae1b75489195336"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 629, "y1": 526, "x2": 695, "y2": 573, "logit": 0.0, "location": [72.20966545818374, 10.106412568711676, 0.5851484431839253], "size": [2.031827688217163, 4.490359306335449, 1.91423761844635], "instance_token": "6fa7fdbe801b5459"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 720, "y1": 528, "x2": 762, "y2": 564, "logit": 0.0, "location": [73.44542027823627, 10.492926616920158, 0.26983698564072256], "size": [1.8298230171203613, 4.292725563049316, 1.6977946758270264], "instance_token": "b93963a4ec855515"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000037.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/json_data/mask_000037.json
new file mode 100644
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/prompt.txt
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+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.03, 7.75, 7.43, 7.16]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.16, -1.06, -1.35, -1.04
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/response.txt
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index 0000000000000000000000000000000000000000..4bd14758d47da46e1d47cc48ee9d2c6485409f26
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, center lane, black
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 2: Vehicle, left lane, red
+    - Potential Effects: Blocking the left lane; no immediate impact unless changing lanes.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 3: Vehicle, right lane, white
+    - Potential Effects: Blocking the right lane; no immediate impact unless changing lanes.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic conditions ahead.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if necessary.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping to comply with traffic rules. Vehicles in all lanes are stopped, indicating a need to halt.
+- **Driving Plan:** Stop at the red light, maintaining position in the current lane. Relevant objects: 1, 2, 3.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The plan to stop is consistent with the red light and stopped vehicles ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..eed236969ca183b1f4eb280c4664dc98cbdb783d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aad871e8ed1a22aeb040d95ec111784219437653c76e2ec2d67cda7b16af46a
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7f7ab044f7cbc7e2fa6c4ab56d32c900ec898168
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b9edecb9d7558c1f72b6a33f792092b9cc54219cf47730d407fd783b205409b
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..67afac2037bce8cc747648a66b1682d52e417152
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.16, 6.97, 6.73, 6.98]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.04, -1.07, -1.33, -1.11
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31c7171c89a23c425ee5bdf57e6a069a3c4d85de
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain speed limits, and ensure safe distance from other vehicles.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, silver color
+    - Potential Effects: May slow down or stop, requiring adjustment in speed.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+  - Object 2: Vehicle in the left lane, black color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue in the current lane.
+  - Object 3: Vehicle in the right lane, white color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue in the current lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear with no immediate obstacles, allowing for continuous movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles 1, 2, and 3 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The analysis and task planning are consistent. The ego car is in the middle lane with clear conditions, supporting the decision to move forward at a constant speed.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ee69004fa5ff2357fdad4e4e56c343e08798d162
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cc55a4f0f25143cd86039a982451bed51c7f9d78b8f78dac0cf3a4f227bc710
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8c3a4283ae7cfebe16d1205580b04fbe13f89bab
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d1916cd97c7278f177ca3b991a6b827de3f659e35068dfa3d8ec2ec875ddab
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90cb88be3bddeec19e48c95cd86169522d2d1e9f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [6.98, 6.8, 6.77, 7.28]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.11, -0.9, -1.15, -1.15
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fefa3a495d79182dfb37e1a3fa7f042d4cdb1668
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000018/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain speed limits, and ensure safe distance from other vehicles.
+
+- **Notable Objects:**
+  - Object 11: Vehicle in the left lane, blue color
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue straight
+  - Object 9: Vehicle in the middle lane, green color
+    - Potential Effects: Directly in front, may affect speed
+    - Future Behavior: Likely to continue straight
+  - Object 1: Vehicle in the middle lane, red color
+    - Potential Effects: Directly in front, may affect speed
+    - Future Behavior: Likely to continue straight
+  - Object 5: Vehicle in the right lane, yellow color
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue straight
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady speed in its lane due to clear road conditions.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and maintaining a constant speed is appropriate given the current traffic conditions.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 9 and 1 directly ahead.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..182277d52dde34191231b411232acb1b1364f067
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2eeb637409e485a4d455f4f2847bb94b277e1577aa0df06e27748c2fb0e6564
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bdf5ed71dbf897096ef4bd3868b2a08020fcf721
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:272bb5a75862ca81342c3b7c670c0ecc3118db50579f866d8403df0040e27a09
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..770d21d99b1b7ee381c64187557fdeef8d2a202f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.28, 7.21, 7.33, 7.84]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.15, -1.07, -0.9, -1.1
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3ebdafd208cd8fbdef38147afe284e990e43b9d6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000024/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and be cautious of vehicles in adjacent lanes.
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the same lane
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to maintain current speed or slow down.
+  - Object (ID 5): Yellow vehicle in the adjacent lane
+    - Potential Effects: May merge into your lane.
+    - Future Behavior: Likely to maintain lane or merge.
+  - Object (ID 9): Green vehicle in the left lane
+    - Potential Effects: Minimal impact unless it changes lanes.
+    - Future Behavior: Likely to maintain lane.
+  - Object (ID 11): Blue vehicle in the far left lane
+    - Potential Effects: Minimal impact.
+    - Future Behavior: Likely to maintain lane.
+  - Object (ID 12): Blue vehicle in the right lane
+    - Potential Effects: May merge into your lane.
+    - Future Behavior: Likely to maintain lane or merge.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and maintaining a constant speed is safe given the current traffic conditions.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 1 and ID 5 for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..775ae75c61d3ff47d7d273c067e7f3ed76249341
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07f51eb21c985153bc92ac66601bb3f0fc3acb197274417450a326a9f9124734
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..aacebe0ef7cc206e4408e58319e93ece8827ad6c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccc78a016e320dcd94c26cf19c50ab631ed3663ad92c080c2252cf8cc095b34e
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a674a6f031864e0780564b1d30943ce2ecaa03e5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.84, 7.89, 7.67, 7.9]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.1, -0.93, -0.91, -1.02
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb8787454913ffe14a771b6d9e7b00b2401fba5a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey speed limits, maintain lane discipline.
+
+- **Notable Objects:**
+  - Object (ID 9): Red vehicle in the same lane, directly ahead.
+    - Potential Effects: May slow down or stop, requiring adjustment in speed.
+    - Future Behavior: Likely to maintain current speed or slow down.
+  - Object (ID 11): Blue vehicle in the left lane.
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to maintain lane.
+  - Object (ID 5): Yellow vehicle in the right lane.
+    - Potential Effects: May merge into the current lane.
+    - Future Behavior: Likely to maintain lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The road is clear with no immediate obstacles, allowing for steady movement.
+  - **Lane Association:**
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the notable objects are maintaining their lanes, allowing for continued movement at a constant speed.
+- **Driving Plan:** Continue moving forward while monitoring the red vehicle (ID 9) for any changes in speed or lane position.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e23c3d56b975bb2f43832f133f40e3466e88980b
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e378dda6af5e93b5de31664fec0e80f0f47de16bd49414f399edb79fc260a8d6
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724d20e7b3248d3b486d0dfe4496894b8f471035feb42d7bf7966326b31deb3c
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..332a177fa427b3212719b22691dc1a1896aa1fb9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.9, 8.3, 8.36, 9.04]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.02, -1.06, -1.08, -1.17
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce87ab15e22b39e0284087488c4b152f3f3fe116
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_12/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and follow traffic signals.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red, in the same lane)
+    - Potential Effects: May slow down or stop, requiring adjustment.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle (yellow, in the adjacent lane)
+    - Potential Effects: May merge into the current lane.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle (blue, in the adjacent lane)
+    - Potential Effects: May merge into the current lane.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Move forward
+  - **Past Speed adjustment:** A constant speed
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and a green traffic light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and no immediate obstacles are present in the current lane.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles (Object 1, 2, 3) for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000000.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa79cadb6fde84f9b07cd277f07a3f99bf05ea32
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 796, "y1": 599, "x2": 1176, "y2": 912, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 542, "y1": 516, "x2": 711, "y2": 590, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1145, "y1": 527, "x2": 1295, "y2": 584, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1637, "y1": 510, "x2": 1864, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 14, "y1": 573, "x2": 142, "y2": 616, "logit": 0.0, "location": [34.370908334385604, 17.244314343319274, 0.30572945879612234], "size": [1.8275351524353027, 4.6716837882995605, 1.6194244623184204], "instance_token": "b9f48ee1d3e5540c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000001.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000001.json
new file mode 100644
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000002.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c40581a574b56197d768762857b82a99fd4bea8
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@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 797, "y1": 599, "x2": 1177, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 251, "y1": 521, "x2": 434, "y2": 602, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1011, "y1": 532, "x2": 1073, "y2": 581, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1593, "y1": 514, "x2": 1865, "y2": 551, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [34.370908334385604, 17.244314343319274, 0.30572945879612234], "size": [1.8275351524353027, 4.6716837882995605, 1.6194244623184204], "instance_token": "b9f48ee1d3e5540c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000003.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e68d437642e5f81da99296f32deab75014a9e8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000003.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000004.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..d697b8f92d55becae5b68780ffd3d7142ad8e3c4
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000004.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000005.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..6078e561a05391b9ca002b20281cb6d1d264a0b2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 557, "y1": 529, "x2": 724, "y2": 590, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1581, "y1": 515, "x2": 1866, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 176, "y1": 559, "x2": 463, "y2": 705, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 527, "x2": 592, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.43666796712205, -5.347251640516333, 0.43240504653840617], "size": [2.0139293670654297, 4.816247463226318, 1.7778112888336182], "instance_token": "e644077646fc5aa0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000006.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7ab2a6d434f4dad0f3d218d544f9315ec987a5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 430, "y1": 528, "x2": 599, "y2": 595, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1584, "y1": 515, "x2": 1866, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 225, "y1": 556, "x2": 492, "y2": 694, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1040, "y1": 528, "x2": 1086, "y2": 566, "logit": 0.0, "location": [69.43666796712205, -5.347251640516333, 0.43240504653840617], "size": [2.0139293670654297, 4.816247463226318, 1.7778112888336182], "instance_token": "e644077646fc5aa0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000007.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..07cfa8a8bab1f4fccb922f44c8ed073b4026246f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 291, "y1": 530, "x2": 464, "y2": 577, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1584, "y1": 516, "x2": 1866, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 264, "y1": 554, "x2": 513, "y2": 683, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 528, "x2": 592, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1029, "y1": 526, "x2": 1071, "y2": 565, "logit": 0.0, "location": [69.43666796712205, -5.347251640516333, 0.43240504653840617], "size": [2.0139293670654297, 4.816247463226318, 1.7778112888336182], "instance_token": "e644077646fc5aa0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000008.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..4215fcdd3eab31df1b8deeecc2d645a9cc339204
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1176, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 143, "y1": 532, "x2": 331, "y2": 603, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1584, "y1": 515, "x2": 1866, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 293, "y1": 553, "x2": 530, "y2": 678, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 528, "x2": 591, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000009.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa32497b2c83d44c843c854a0b5a0c8becac3fd1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1178, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 12, "y1": 537, "x2": 175, "y2": 613, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1578, "y1": 516, "x2": 1864, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 314, "y1": 553, "x2": 542, "y2": 673, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 530, "y1": 527, "x2": 560, "y2": 543, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000010.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..0371f273726562bc16f13079571db0bd73981eef
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1574, "y1": 516, "x2": 1865, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 327, "y1": 551, "x2": 549, "y2": 670, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 528, "x2": 593, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000011.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..def5473fd1cb7d342aaa202ebfaf462c56f5ba87
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1578, "y1": 516, "x2": 1864, "y2": 552, "logit": 0.0, "location": [45.766435944475234, -22.266456511220895, 1.5795801742260664], "size": [1.9428484439849854, 4.791934490203857, 1.7517809867858887], "instance_token": "b68886b943685460"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 335, "y1": 551, "x2": 554, "y2": 668, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 528, "x2": 593, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000012.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..59fb58c6f39cc962817d7a3040a6c2a8db876666
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1176, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 339, "y1": 551, "x2": 555, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 528, "x2": 592, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000013.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5533e5a4fcf0f07d41f518677e773f5d8cee90
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 552, "x2": 556, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 538, "y1": 529, "x2": 592, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000014.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5912c3efcfdafed4c3869bd001b55064e2f80d3
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.16600504005328, -7.608369102701545, 0.6266365727024095], "size": [1.97697913646698, 4.866185188293457, 1.8042140007019043], "instance_token": "fd1c5b19b3975038"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 551, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 528, "x2": 590, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000015.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e41f5486d8d264ed541e44d51049140f7af04e9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000015.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000016.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..de872c905a75d233d3173e7f20685467b0d47545
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 1464, "y1": 527, "x2": 1553, "y2": 794, "logit": 0.0, "location": [12.744048249907792, -4.024619804578833, 0.6459219093630963], "size": [0.8620332550787773, 1.8293793875927682, 1.8716458922824422], "instance_token": "c11fb8e94d295f35"}}}, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 339, "y1": 551, "x2": 555, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 537, "y1": 529, "x2": 591, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000017.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b0eea51e699694a6a3d551d37fe08979b8425a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 1367, "y1": 526, "x2": 1444, "y2": 748, "logit": 0.0, "location": [12.744048249907792, -4.024619804578833, 0.6459219093630963], "size": [0.8620332550787773, 1.8293793875927682, 1.8716458922824422], "instance_token": "c11fb8e94d295f35"}}}, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 910, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 551, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 528, "x2": 593, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000018.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..57adbc3661655498171df6a72b573f475d234010
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 1322, "y1": 528, "x2": 1387, "y2": 717, "logit": 0.0, "location": [12.744048249907792, -4.024619804578833, 0.6459219093630963], "size": [0.8620332550787773, 1.8293793875927682, 1.8716458922824422], "instance_token": "c11fb8e94d295f35"}}}, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 552, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 537, "y1": 528, "x2": 592, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000019.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eae4a07f0dd97df65f10708c77b261e4b669e03
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 1306, "y1": 524, "x2": 1361, "y2": 697, "logit": 0.0, "location": [12.744048249907792, -4.024619804578833, 0.6459219093630963], "size": [0.8620332550787773, 1.8293793875927682, 1.8716458922824422], "instance_token": "c11fb8e94d295f35"}}}, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [42.984119470696896, 9.316794211626984, 0.7449727801376866], "size": [2.049604892730713, 5.354750633239746, 2.358877182006836], "instance_token": "4a3360b7b5f35fd0"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 552, "x2": 556, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 528, "x2": 593, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000020.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae95efaa6f678f378d8c5248aceadb82057c573e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1176, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 555, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 538, "y1": 529, "x2": 591, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000021.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..877216b2e2b5282d47ff1a57e9f10a24429f55c2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 552, "x2": 556, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 528, "x2": 593, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000022.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9321ffbc27245cdc765da31c047998aaee4e5c6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000022.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000023.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..0917a88b3dcc0fd995bca54e58ddb414cee46a95
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1177, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 528, "x2": 593, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000024.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aa0dd2e30c0b0c2d72e5d54900f368138a9442e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1176, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 555, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 528, "x2": 593, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000025.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae0f90b0280e371a1eba2332c9c7dba32ef7147
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 551, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 541, "y1": 527, "x2": 594, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000026.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..149d2a65a27dd80065bf854db12e4b497e4bc024
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1177, "y2": 908, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 527, "x2": 594, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000027.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..83fe75d9d487c35f2bc947f6cdb8ec71948ae4fe
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 527, "x2": 594, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000028.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ac77a63451f377334800ab4a025e88b11840e55
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1178, "y2": 908, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 555, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 541, "y1": 528, "x2": 591, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000029.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c2e3be2d5f7ec749937352d15e17f2fd566bed
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1177, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 551, "x2": 556, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 528, "x2": 592, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000030.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bac8c1b76d95ff4fa0856ea27c3fbf0fc46bf5f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1177, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 551, "x2": 556, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 529, "x2": 592, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000031.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da59150f5fdd89725f41acf47c43b890e3e8823
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 552, "x2": 556, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 529, "x2": 592, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000032.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..28aaa906c6fa85b93ddbc31422a8286034d693c0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1176, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 344, "y1": 552, "x2": 555, "y2": 662, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 529, "x2": 593, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 519, "x2": 483, "y2": 1079, "logit": 0.0, "location": [8.409579087048769, 3.675016436376609, 0.6367042357051105], "size": [1.9137951135635376, 4.9858503341674805, 2.0052058696746826], "instance_token": "6f449c4df6ca5fd5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000033.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..415346b4bfd012d88c5609ed7e010c320f950dfc
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1177, "y2": 908, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 412, "y1": 549, "x2": 556, "y2": 630, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 541, "y1": 528, "x2": 592, "y2": 563, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 521, "x2": 601, "y2": 1079, "logit": 0.0, "location": [8.409579087048769, 3.675016436376609, 0.6367042357051105], "size": [1.9137951135635376, 4.9858503341674805, 2.0052058696746826], "instance_token": "6f449c4df6ca5fd5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000034.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd54f78b74ae50d630e14df53fdce035dbfb3e1e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1177, "y2": 908, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 343, "y1": 556, "x2": 409, "y2": 607, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 529, "x2": 592, "y2": 564, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 287, "y1": 520, "x2": 667, "y2": 790, "logit": 0.0, "location": [8.409579087048769, 3.675016436376609, 0.6367042357051105], "size": [1.9137951135635376, 4.9858503341674805, 2.0052058696746826], "instance_token": "6f449c4df6ca5fd5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000035.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..6443638f0f2f226afb87758dd5851a092129ae6e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 599, "x2": 1178, "y2": 909, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 340, "y1": 550, "x2": 486, "y2": 666, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 580, "y1": 530, "x2": 605, "y2": 560, "logit": 0.0, "location": [77.33348366199061, 19.538061879575253, 0.20815641712397337], "size": [2.1195640563964844, 4.87166166305542, 1.8039648532867432], "instance_token": "7df91ca8c28d55d9"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 521, "x2": 706, "y2": 1079, "logit": 0.0, "location": [8.409579087048769, 3.675016436376609, 0.6367042357051105], "size": [1.9137951135635376, 4.9858503341674805, 2.0052058696746826], "instance_token": "6f449c4df6ca5fd5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000036.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d5144da1c82572f145a1d506fbccd2a579984e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 1296, "y1": 528, "x2": 1345, "y2": 682, "logit": 0.0, "location": [12.744048249907792, -4.024619804578833, 0.6459219093630963], "size": [0.8620332550787773, 1.8293793875927682, 1.8716458922824422], "instance_token": "c11fb8e94d295f35"}}}, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 599, "x2": 1177, "y2": 908, "logit": 0.0, "location": [10.199434130918235, -0.13513368752319366, 0.4126026268622809], "size": [1.9172356128692627, 4.423453330993652, 1.5327810049057007], "instance_token": "92167ad6788352ce"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 341, "y1": 551, "x2": 516, "y2": 665, "logit": 0.0, "location": [16.466064772102982, 6.893492092611268, 0.4101888757522829], "size": [1.9355605840682983, 4.972565650939941, 1.575508713722229], "instance_token": "44077b48e42154bc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 522, "x2": 733, "y2": 1079, "logit": 0.0, "location": [8.409579087048769, 3.675016436376609, 0.6367042357051105], "size": [1.9137951135635376, 4.9858503341674805, 2.0052058696746826], "instance_token": "6f449c4df6ca5fd5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67281"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000037.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d5f3566edf6e2765aa18b3741e9cebac8d7292a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000037.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000038.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/json_data/mask_000038.json
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new file mode 100644
index 0000000000000000000000000000000000000000..375f1d91d9253db3c4b652f6115e4ea30369da47
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:159aaba0a2278b3742109dc76fb58edc877fcca14c280d04a0b5db0d13e052ce
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8f847256127f43c8d71d479c764fa85214fb3c2b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -62.3, -76.53, -88.73, -105.12
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1f67bd60a17b46fc2c0c51df5722dc6c5bcacad
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no lane changes across solid lines, drive on the right.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in front, gray sedan
+    - Potential Effects: Blocking the path; must stop.
+    - Future Behavior: Remain stopped until light changes.
+  - Object 3: Vehicle in adjacent lane, white sedan
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to remain stopped.
+  - Object 4: Vehicle in right lane, white SUV
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to remain stopped.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** Deceleration to zero
+  - **Explanation:** Stopped due to red traffic light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping. Object 1 is directly ahead, necessitating a stop.
+- **Driving Plan:** Maintain current position and stop due to the red light and vehicle ahead (Object 1).
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed are consistent with the current traffic light and vehicle positions.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..35b17240809bb9b26c65730c2bec840f661dab1e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148dc48847d2c1c734a23a4b5a7f9f591274fa0069ff25be8242bb84d2e11a0c
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8545208d708f9aa7a777372995bc7a2d93c327aa
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3b9e56973de48f4c550e3a2acbb0580a4be0bfc2234e5fff1fa1e5bcc0790b9
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d7e650d7673610298de7e46ecbc15ae627c05398
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -105.12, 119.95, 101.41, -161.72
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e50af855d06db1e7d03965ca78ec58e56b683680
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000012/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no lane changes across solid lines, drive on the right.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in front, silver, stopped at red light.
+    - Potential Effects: Requires stopping to avoid collision.
+    - Future Behavior: Remain stopped until light changes.
+  - Object 4: Vehicle on the right, yellow, waiting to turn.
+    - Potential Effects: No immediate impact unless it turns.
+    - Future Behavior: May turn right when light changes.
+  - Object 6: Vehicle in left lane, blue, moving forward.
+    - Potential Effects: None unless lane change is needed.
+    - Future Behavior: Continue moving forward.
+  - Object 7: Vehicle in left lane, white, moving forward.
+    - Potential Effects: None unless lane change is needed.
+    - Future Behavior: Continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** Deceleration to zero
+  - **Explanation:** Stopped due to red traffic light and vehicle ahead.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if needed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and vehicle ahead require stopping.
+- **Driving Plan:** Maintain current position and stop (Object 1).
+
+*****Reflection:*****
+- **Self-Consistency:** No inconsistencies found. The plan aligns with the current traffic situation.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "3"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2371af5b78e5424f2aa28d8c7b6fdd122ef8d18d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e0c8451a468e22053b3b560e0a2a23e80dc0e4c4f22dee795999045146bfa7d
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cb8f193c2c5156a435342c99febd806a86718af8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:948f910a8bc736af1dc97ba901317a410485be51e85eb2955dcb4ab74e18eec2
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e835ba7fca8aeed3e44a44ec635589c5a41f4043
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -161.72, -102.15, -67.4, -87.71
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..571a53cf581c79ad8fcdef6551228bef3c015d07
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000018/response.txt
@@ -0,0 +1,51 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no lane changes or overtaking at intersections.
+
+- **Notable Objects:**
+  - Object 1 (Vehicle): Car in front, center lane, black, both rear lights flashing.
+    - Potential Effects: Requires stopping as it indicates stopping.
+    - Future Behavior: Likely to remain stopped due to the red light.
+  - Object 2 (Bicycle): Right side, moving parallel to the road.
+    - Potential Effects: May enter the lane if not cautious.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 6 (Vehicle): Left lane, green, moving left.
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving left.
+  - Object 7 (Vehicle): Left lane, blue, moving left.
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving left.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** Deceleration to zero
+  - **Explanation:** The ego car stopped due to the red traffic light and the vehicle in front stopping.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; solid lines indicate no lane change allowed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and the stopped vehicle ahead necessitate stopping.
+- **Driving Plan:** Maintain current position and stop due to the red light and vehicle 1.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The red light and the stopped vehicle ahead justify the stopping behavior.
+
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1a1068d0e518631e3321b419a46c34cd0a8a4242
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4662feffe57f2a899ae573d1f03173388ed3ea2bf8042a82914634dfab35522
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a7567c39d64c8193a8715537fa94bb16e5efe83a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27470c789a593478042583a7f33f8850071b3257369f69e12121b2947d076a9
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1862d384aacefba61c644d873c56cc4f61ed464c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -87.71, -3.43, 179.99, 82.17
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9f0e2e265ee234b25c0d821c5c766f925a4046c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000024/response.txt
@@ -0,0 +1,48 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in front, in the same lane, silver color.
+    - Potential Effects: Requires stopping as it is directly ahead.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 6: Vehicle in the left lane, blue color.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 7: Vehicle in the left lane, white color.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light and the vehicle in front.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane changes are possible.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and the vehicle in front require stopping.
+- **Driving Plan:** Maintain current position until the light changes. Object 1 is directly ahead.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..91b2f533abec9ec762738ac7c279ca9f3db9afae
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7bb1ef9dd704bcd6e6ccf2434d358e1c4de3284b0a5f91727b1f0dcd5dc895b
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3e878bca99ae509c0db06f3f2bd940619da9013f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b29a948ad0072182ee70c0a91aaa0c88a7e2043d67a1ae7b47d13e4ae274fe36
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..02d4d04be4c815be235833cc6051db397e5d4e3e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): 82.17, 129.43, -173.37, -175.4
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0a6eddf6e06120369dc1cac088ef5ae5a11e5cf4
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no lane changes or overtaking at intersections.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in front, silver, stopped at red light.
+    - Potential Effects: Requires stopping to avoid collision.
+    - Future Behavior: Remain stopped until light turns green.
+  - Object 6: Vehicle in adjacent left lane, blue, moving forward.
+    - Potential Effects: No immediate effect unless lane change is needed.
+    - Future Behavior: Continue moving forward.
+  - Object 7: Vehicle in adjacent left lane, white, moving forward.
+    - Potential Effects: No immediate effect unless lane change is needed.
+    - Future Behavior: Continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** Deceleration to zero
+  - **Explanation:** Stopped due to red traffic light and vehicle ahead.
+  - **Lane Association:**
+    - Current lane: Rightmost lane
+    - Lanes on both sides are in the same direction; lane change possible if needed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and vehicle ahead necessitate stopping.
+- **Driving Plan:** Maintain current position and wait for the light to change. Monitor objects 1, 6, and 7.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning to stop due to the red light and vehicle ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "1"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3fb2f5c3abf7f18adb094bc0a9453a31adcc4f54
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a851061a724adad395bc59cb32fb8cb3496cfc0c65bef98ef8fd1d669efcad23
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7dee01d79c77ac1e11ef50a47386c60834e9c14e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13963154addf97952b39a0a7bef764472ea5c2d56dc341e253f7f57ec2cd4e36
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e1fc66f75a3b892abe6129ca80a069c1bcc7812
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -175.4, -36.57, -75.79, 161.65
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9509c579fad567200d913172cb09d09d1b62e331
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_15/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no lane changes or overtaking at intersections.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (black sedan) in front, same lane
+    - Potential Effects: Requires stopping due to red light
+    - Future Behavior: Likely to remain stationary until light changes
+  - Object 6: Taxi (white) in left lane
+    - Potential Effects: No immediate effect; in a different lane
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object 7: Vehicle (silver) in left lane
+    - Potential Effects: No immediate effect; in a different lane
+    - Future Behavior: Likely to remain stationary due to red light
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** Deceleration to zero
+  - **Explanation:** Stopped due to red traffic light ahead.
+  - **Lane Association:**
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane change possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping. Vehicles in front are also stopped.
+- **Driving Plan:** Maintain current position and wait for the light to turn green. Monitor objects 1, 6, and 7.
+
+*****Reflection:*****
+- **Self-Consistency:** The plan to stop is consistent with the red light and stationary vehicles ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000000.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..bebef736f5e7109242bb50897af28cf6901dbbff
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 471, "y1": 549, "x2": 642, "y2": 651, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 896, "y1": 553, "x2": 1003, "y2": 636, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 764, "y1": 546, "x2": 861, "y2": 616, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 844, "y1": 538, "x2": 900, "y2": 588, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 944, "y1": 528, "x2": 990, "y2": 556, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 810, "y1": 529, "x2": 846, "y2": 553, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1015, "y1": 536, "x2": 1060, "y2": 569, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1166, "y1": 537, "x2": 1240, "y2": 598, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 562, "y1": 502, "x2": 636, "y2": 558, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000001.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..779ba824d6adb245e58abd3a35cfa2ae5049d831
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 491, "y1": 551, "x2": 657, "y2": 647, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 904, "y1": 551, "x2": 1004, "y2": 629, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 778, "y1": 546, "x2": 872, "y2": 613, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 853, "y1": 539, "x2": 906, "y2": 585, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 945, "y1": 525, "x2": 994, "y2": 555, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 812, "y1": 529, "x2": 852, "y2": 546, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1018, "y1": 535, "x2": 1062, "y2": 568, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1195, "y1": 537, "x2": 1274, "y2": 604, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 545, "y1": 508, "x2": 606, "y2": 549, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000002.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..4112e1a074598f95a2dbfa407e98d2cf8c96f09c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 507, "y1": 550, "x2": 670, "y2": 644, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 906, "y1": 549, "x2": 1001, "y2": 622, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 787, "y1": 544, "x2": 876, "y2": 609, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 858, "y1": 538, "x2": 908, "y2": 584, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 947, "y1": 524, "x2": 993, "y2": 553, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 812, "y1": 529, "x2": 850, "y2": 544, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1014, "y1": 534, "x2": 1059, "y2": 566, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1226, "y1": 543, "x2": 1314, "y2": 613, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 511, "y1": 506, "x2": 580, "y2": 561, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000003.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..32c7574c29afeed81cdadd4d37be2df79b25389f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 513, "y1": 547, "x2": 670, "y2": 640, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 902, "y1": 545, "x2": 991, "y2": 614, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 787, "y1": 542, "x2": 873, "y2": 604, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 852, "y1": 535, "x2": 900, "y2": 580, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 942, "y1": 523, "x2": 986, "y2": 551, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 806, "y1": 527, "x2": 840, "y2": 540, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1007, "y1": 533, "x2": 1052, "y2": 564, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1261, "y1": 543, "x2": 1368, "y2": 623, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 467, "y1": 502, "x2": 532, "y2": 580, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000004.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..a491fba9b82527a2d8f68e83c38304163e62733b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 524, "y1": 546, "x2": 673, "y2": 636, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 904, "y1": 543, "x2": 988, "y2": 609, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 789, "y1": 540, "x2": 873, "y2": 598, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 854, "y1": 534, "x2": 895, "y2": 577, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 941, "y1": 521, "x2": 984, "y2": 548, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 801, "y1": 525, "x2": 835, "y2": 539, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1004, "y1": 531, "x2": 1045, "y2": 561, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1320, "y1": 543, "x2": 1455, "y2": 636, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 414, "y1": 498, "x2": 487, "y2": 573, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 625, "x2": 495, "y2": 1079, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1457, "y1": 507, "x2": 1623, "y2": 560, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1186, "y1": 531, "x2": 1320, "y2": 572, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "63212"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000005.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d879160ffb530f0cc1f45656a1a75addbce06a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 538, "y1": 545, "x2": 684, "y2": 633, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 911, "y1": 541, "x2": 991, "y2": 603, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 798, "y1": 538, "x2": 877, "y2": 595, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 857, "y1": 533, "x2": 901, "y2": 574, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 945, "y1": 522, "x2": 988, "y2": 548, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 803, "y1": 524, "x2": 839, "y2": 541, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1006, "y1": 530, "x2": 1047, "y2": 562, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1421, "y1": 547, "x2": 1590, "y2": 657, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 361, "y1": 497, "x2": 441, "y2": 580, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 27, "y1": 606, "x2": 599, "y2": 940, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1525, "y1": 503, "x2": 1668, "y2": 558, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1210, "y1": 531, "x2": 1357, "y2": 575, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63212"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000006.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..a264f7090474e2fcdba63f747e1681a0aa08d1dc
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000007.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..9483169b9e76da5148207cb9c2f17e5999d2d9a4
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 584, "y1": 546, "x2": 711, "y2": 619, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 929, "y1": 543, "x2": 1002, "y2": 600, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 813, "y1": 542, "x2": 887, "y2": 596, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 872, "y1": 537, "x2": 912, "y2": 576, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 953, "y1": 526, "x2": 994, "y2": 550, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 813, "y1": 529, "x2": 855, "y2": 547, "logit": 0.0, "location": [75.38802358182147, 6.287090370431542, 0.40221793320961297], "size": [1.9556595087051392, 4.721765518188477, 1.7629832029342651], "instance_token": "b8f22c94101656e5"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1014, "y1": 535, "x2": 1054, "y2": 564, "logit": 0.0, "location": [70.97363753942773, -3.5230789633933455, 0.29058167584298644], "size": [1.9180799722671509, 4.4427361488342285, 1.667385220527649], "instance_token": "1c64eb53c69756dc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1854, "y1": 578, "x2": 1919, "y2": 736, "logit": 0.0, "location": [43.782707903999835, -6.499811303801835, 0.38155018861289136], "size": [2.075861930847168, 5.045855522155762, 1.6945289373397827], "instance_token": "9e29bb14d4955368"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 206, "y1": 492, "x2": 297, "y2": 593, "logit": 0.0, "location": [69.99374830210581, 16.21355386520736, 0.6894486543460516], "size": [2.7937371730804443, 2.973677158355713, 3.3092024326324463], "instance_token": "54f480ea4c7a5898"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 380, "y1": 577, "x2": 722, "y2": 792, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1678, "y1": 509, "x2": 1919, "y2": 591, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1278, "y1": 541, "x2": 1457, "y2": 597, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63212"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000008.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5b0af86652a8aa87d34ce37992c2b0bb572ff5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 598, "y1": 543, "x2": 711, "y2": 603, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 929, "y1": 541, "x2": 996, "y2": 593, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 809, "y1": 539, "x2": 880, "y2": 591, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 867, "y1": 535, "x2": 907, "y2": 572, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 952, "y1": 524, "x2": 989, "y2": 542, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 456, "y1": 569, "x2": 743, "y2": 754, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1793, "y1": 507, "x2": 1919, "y2": 601, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1324, "y1": 542, "x2": 1520, "y2": 606, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67370"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000009.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c425716be86ecf60e01fb6d3feeb0484a74fa90
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 603, "y1": 541, "x2": 702, "y2": 570, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 931, "y1": 540, "x2": 997, "y2": 588, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 807, "y1": 537, "x2": 877, "y2": 588, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 865, "y1": 532, "x2": 905, "y2": 569, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 951, "y1": 521, "x2": 989, "y2": 539, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 505, "y1": 564, "x2": 757, "y2": 729, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1869, "y1": 534, "x2": 1919, "y2": 596, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1395, "y1": 543, "x2": 1607, "y2": 620, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67370"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000010.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed37b2493f2888ae35f4f3198fc924be89b810db
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 614, "y1": 541, "x2": 707, "y2": 563, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 943, "y1": 541, "x2": 1006, "y2": 588, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 814, "y1": 538, "x2": 882, "y2": 588, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 869, "y1": 532, "x2": 912, "y2": 569, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 955, "y1": 522, "x2": 993, "y2": 540, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 547, "y1": 563, "x2": 775, "y2": 711, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1452, "y1": 550, "x2": 1749, "y2": 644, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "68351"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000011.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb56c1255a82c017b921472391b38026bfc5e3c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 608, "y1": 540, "x2": 697, "y2": 576, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 950, "y1": 536, "x2": 1010, "y2": 584, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 816, "y1": 535, "x2": 883, "y2": 584, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 870, "y1": 528, "x2": 916, "y2": 566, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 955, "y1": 519, "x2": 989, "y2": 542, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 575, "y1": 559, "x2": 784, "y2": 697, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.9464887031354, -18.818895698990673, 1.0870577057212358], "size": [2.0683910846710205, 5.083803176879883, 1.8143326044082642], "instance_token": "12f5c522ee9358c0"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1585, "y1": 554, "x2": 1919, "y2": 678, "logit": 0.0, "location": [57.318095076829195, -10.387150152819231, 0.4944497219257755], "size": [1.904306173324585, 5.125555038452148, 1.638332486152649], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "68353"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000012.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0221720104e15209314c23433c5c5f9905e92e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 607, "y1": 538, "x2": 704, "y2": 590, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 954, "y1": 534, "x2": 1013, "y2": 580, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 817, "y1": 534, "x2": 883, "y2": 581, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 874, "y1": 527, "x2": 915, "y2": 563, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 951, "y1": 518, "x2": 983, "y2": 545, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 599, "y1": 556, "x2": 788, "y2": 684, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1858, "y1": 577, "x2": 1919, "y2": 811, "logit": 0.0, "location": [13.500024744309485, -9.830530296778306, 0.5756599373344216], "size": [1.912696123123169, 4.956203937530518, 1.6124101877212524], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63140"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000013.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebe15a86590746d873fe83154f4a058f1695e28f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 608, "y1": 541, "x2": 686, "y2": 607, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 960, "y1": 537, "x2": 1015, "y2": 580, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 824, "y1": 536, "x2": 887, "y2": 582, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 877, "y1": 532, "x2": 918, "y2": 565, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 949, "y1": 519, "x2": 981, "y2": 550, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 618, "y1": 557, "x2": 795, "y2": 677, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [13.500024744309485, -9.830530296778306, 0.5756599373344216], "size": [1.912696123123169, 4.956203937530518, 1.6124101877212524], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63140"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000014.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..350a4e7b334f5b4a39cf2c1ba6ec6268296c0b67
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 608, "y1": 539, "x2": 684, "y2": 605, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 965, "y1": 536, "x2": 1019, "y2": 578, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 831, "y1": 535, "x2": 893, "y2": 580, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 882, "y1": 529, "x2": 924, "y2": 564, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 949, "y1": 520, "x2": 980, "y2": 549, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 636, "y1": 554, "x2": 804, "y2": 669, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [13.500024744309485, -9.830530296778306, 0.5756599373344216], "size": [1.912696123123169, 4.956203937530518, 1.6124101877212524], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "16"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000015.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..e52b13100da32a19f8d94092cf8c08619eaf9658
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 607, "y1": 535, "x2": 683, "y2": 597, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 965, "y1": 530, "x2": 1017, "y2": 572, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 839, "y1": 531, "x2": 899, "y2": 574, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 887, "y1": 525, "x2": 927, "y2": 559, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 948, "y1": 517, "x2": 981, "y2": 546, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 653, "y1": 547, "x2": 810, "y2": 656, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [13.500024744309485, -9.830530296778306, 0.5756599373344216], "size": [1.912696123123169, 4.956203937530518, 1.6124101877212524], "instance_token": "24e613f1f5925890"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "22"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000016.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a724f3e592eb0ef4bbf82970728a45a95176f3c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 600, "y1": 535, "x2": 685, "y2": 594, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 962, "y1": 530, "x2": 1013, "y2": 568, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 846, "y1": 530, "x2": 900, "y2": 570, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 890, "y1": 522, "x2": 923, "y2": 556, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 946, "y1": 516, "x2": 979, "y2": 544, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 667, "y1": 546, "x2": 816, "y2": 648, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "22"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000017.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c14038d789654c11454dd200e0b22132b4de2a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 597, "y1": 534, "x2": 680, "y2": 592, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 958, "y1": 529, "x2": 1010, "y2": 568, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 849, "y1": 529, "x2": 902, "y2": 569, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 890, "y1": 521, "x2": 921, "y2": 556, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 944, "y1": 516, "x2": 975, "y2": 544, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 681, "y1": 544, "x2": 822, "y2": 643, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "22"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000018.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbdefd967a2ee8f900e46cde0bfb63f7c2f34935
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 597, "y1": 534, "x2": 680, "y2": 588, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 952, "y1": 527, "x2": 1002, "y2": 566, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 846, "y1": 528, "x2": 898, "y2": 567, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 884, "y1": 522, "x2": 915, "y2": 555, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 937, "y1": 516, "x2": 968, "y2": 544, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 689, "y1": 542, "x2": 824, "y2": 637, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67303"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000019.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33a9407fe1a19471d249c20009f73c3971c00da
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 599, "y1": 535, "x2": 678, "y2": 585, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 944, "y1": 527, "x2": 994, "y2": 564, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 842, "y1": 528, "x2": 893, "y2": 566, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 882, "y1": 523, "x2": 909, "y2": 555, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 929, "y1": 516, "x2": 961, "y2": 545, "logit": 0.0, "location": [69.41237292811275, -0.24341233144514263, 0.3815969856659649], "size": [1.9071038961410522, 4.647055625915527, 1.765883445739746], "instance_token": "116dadab70dc583b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 697, "y1": 542, "x2": 824, "y2": 633, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67303"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000020.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb961fc20bbbf268087b93e979591db856ab926
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000020.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000021.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..11687e45afcb4da36d74dc00e8b7ca3ee98725de
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 603, "y1": 533, "x2": 676, "y2": 581, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 933, "y1": 527, "x2": 980, "y2": 563, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 835, "y1": 528, "x2": 884, "y2": 564, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 874, "y1": 524, "x2": 900, "y2": 554, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 711, "y1": 537, "x2": 825, "y2": 619, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000022.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..1adbc70078e506307f55ef8ddaec62235dac82c5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 600, "y1": 538, "x2": 671, "y2": 584, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 926, "y1": 531, "x2": 973, "y2": 568, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 828, "y1": 533, "x2": 878, "y2": 568, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 866, "y1": 529, "x2": 895, "y2": 559, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 714, "y1": 541, "x2": 822, "y2": 620, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000023.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ed09547d2a782a9ec69260bf47a025d115f6ea
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 597, "y1": 535, "x2": 669, "y2": 581, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 924, "y1": 530, "x2": 970, "y2": 566, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 825, "y1": 530, "x2": 875, "y2": 565, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 863, "y1": 525, "x2": 892, "y2": 555, "logit": 0.0, "location": [49.49589804792777, 2.756561713758856, 0.22284580062841997], "size": [1.852603554725647, 4.382316589355469, 1.5555006265640259], "instance_token": "318b8e85638655c3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 721, "y1": 538, "x2": 823, "y2": 611, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000024.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d77f2f465c01f6d5bb164a3b368954540c916a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 592, "y1": 532, "x2": 662, "y2": 579, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 922, "y1": 531, "x2": 968, "y2": 564, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 826, "y1": 528, "x2": 873, "y2": 564, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 729, "y1": 537, "x2": 825, "y2": 606, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000025.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f04703283c7ca1e36f66fcb44af84d26f4389c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 584, "y1": 540, "x2": 653, "y2": 586, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 926, "y1": 540, "x2": 972, "y2": 573, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 832, "y1": 534, "x2": 879, "y2": 570, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 747, "y1": 543, "x2": 837, "y2": 609, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000026.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..288a51f6e973851b2f83217c74f9200e612e369a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 564, "y1": 543, "x2": 630, "y2": 592, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 926, "y1": 544, "x2": 972, "y2": 579, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 840, "y1": 540, "x2": 881, "y2": 575, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 763, "y1": 547, "x2": 848, "y2": 609, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000027.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9e7217df200802c40895fc206a331d610dde8f6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 526, "y1": 541, "x2": 589, "y2": 591, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 925, "y1": 537, "x2": 971, "y2": 570, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 842, "y1": 533, "x2": 881, "y2": 568, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 777, "y1": 542, "x2": 858, "y2": 600, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000028.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca9001742a89835763167998ded323fc8b77e84e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 454, "y1": 538, "x2": 531, "y2": 590, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 924, "y1": 535, "x2": 968, "y2": 567, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 847, "y1": 532, "x2": 880, "y2": 564, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 791, "y1": 538, "x2": 863, "y2": 593, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 751, "y1": 529, "x2": 806, "y2": 570, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 515, "x2": 460, "y2": 1079, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000029.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ed5460e95ea2f9fd88fe98b190f3fe88706add8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 373, "y1": 539, "x2": 447, "y2": 588, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 920, "y1": 536, "x2": 963, "y2": 566, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 844, "y1": 533, "x2": 877, "y2": 562, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 798, "y1": 538, "x2": 868, "y2": 589, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 751, "y1": 529, "x2": 800, "y2": 570, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 543, "x2": 555, "y2": 1056, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000030.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..b73ea2ada2255761a4821266d941f8a4bf7633b5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.530958828981966, 6.349386863876134, 0.3070318357204087], "size": [1.9611376523971558, 4.892306327819824, 1.5591069459915161], "instance_token": "b582d95cb714544d"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 912, "y1": 533, "x2": 954, "y2": 564, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 839, "y1": 532, "x2": 874, "y2": 558, "logit": 0.0, "location": [34.17913128621876, 3.0657325459178537, 0.2903778934996808], "size": [1.914137601852417, 4.580677509307861, 1.583484172821045], "instance_token": "695ec56d1c3f5f0c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 799, "y1": 536, "x2": 865, "y2": 586, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 745, "y1": 528, "x2": 795, "y2": 570, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 5, "y1": 539, "x2": 616, "y2": 926, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "35"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000031.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cc3a8b49136b1f9cb7b5651a5c17b2ace199c62
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000031.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000032.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac776ec18fa6151b0410e9df1db6f66212ce061
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 896, "y1": 531, "x2": 939, "y2": 559, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 799, "y1": 528, "x2": 858, "y2": 578, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 739, "y1": 525, "x2": 785, "y2": 565, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 304, "y1": 528, "x2": 696, "y2": 790, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 533, "x2": 233, "y2": 584, "logit": 0.0, "location": [48.88688184553757, 24.023059868253767, 0.31890899156132946], "size": [1.9515591859817505, 4.563076019287109, 1.7523013353347778], "instance_token": "e4683e6e8fbc5873"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 28, "y1": 538, "x2": 128, "y2": 585, "logit": 0.0, "location": [49.23253172496334, 27.436941529391333, 0.06884527278452879], "size": [1.8857038021087646, 4.539373397827148, 1.5475258827209473], "instance_token": "b2952abce7005348"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63144"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000033.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ac6f8b07762275a6552725ac9fc78c3a94eb613
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 892, "y1": 520, "x2": 934, "y2": 549, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 800, "y1": 518, "x2": 858, "y2": 567, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 738, "y1": 514, "x2": 784, "y2": 554, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 396, "y1": 517, "x2": 726, "y2": 743, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 9, "y1": 532, "x2": 104, "y2": 585, "logit": 0.0, "location": [48.88688184553757, 24.023059868253767, 0.31890899156132946], "size": [1.9515591859817505, 4.563076019287109, 1.7523013353347778], "instance_token": "e4683e6e8fbc5873"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 532, "x2": 35, "y2": 578, "logit": 0.0, "location": [49.23253172496334, 27.436941529391333, 0.06884527278452879], "size": [1.8857038021087646, 4.539373397827148, 1.5475258827209473], "instance_token": "b2952abce7005348"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "63144"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000034.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..f46de0b1bed8dbf6098632c03ab7844f1150b43e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 884, "y1": 532, "x2": 925, "y2": 561, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 798, "y1": 533, "x2": 853, "y2": 578, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 734, "y1": 528, "x2": 782, "y2": 568, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 466, "y1": 529, "x2": 750, "y2": 729, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.88688184553757, 24.023059868253767, 0.31890899156132946], "size": [1.9515591859817505, 4.563076019287109, 1.7523013353347778], "instance_token": "e4683e6e8fbc5873"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.23253172496334, 27.436941529391333, 0.06884527278452879], "size": [1.8857038021087646, 4.539373397827148, 1.5475258827209473], "instance_token": "b2952abce7005348"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67560"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000035.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecaeb6255b8ae8cda384b5eaa966226ad478dcf8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 536, "x2": 916, "y2": 561, "logit": 0.0, "location": [28.910597291775048, 0.16399768320843577, 0.24672036050469615], "size": [1.919253945350647, 4.524834156036377, 1.522586464881897], "instance_token": "9b0cc0d3aa66577c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 794, "y1": 534, "x2": 848, "y2": 578, "logit": 0.0, "location": [6.545395894907415, 3.1880750593263656, 0.4158630158781307], "size": [1.851281762123108, 4.825934410095215, 1.5859918594360352], "instance_token": "6c253dd25e285c02"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 732, "y1": 531, "x2": 778, "y2": 568, "logit": 0.0, "location": [61.606555371079594, 7.131310888798907, 0.44753135389328236], "size": [1.961098074913025, 4.640640735626221, 1.7786589860916138], "instance_token": "1887492071945cb5"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 514, "y1": 531, "x2": 766, "y2": 710, "logit": 0.0, "location": [5.623348072171211, 3.185870924498886, 0.6403565232030815], "size": [2.065716505050659, 5.439925670623779, 1.9803211688995361], "instance_token": "7eb27ffb7ad45532"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.88688184553757, 24.023059868253767, 0.31890899156132946], "size": [1.9515591859817505, 4.563076019287109, 1.7523013353347778], "instance_token": "e4683e6e8fbc5873"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.23253172496334, 27.436941529391333, 0.06884527278452879], "size": [1.8857038021087646, 4.539373397827148, 1.5475258827209473], "instance_token": "b2952abce7005348"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67374"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000036.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..a478da9d7daca2285a3c662989211007b57d0b03
--- /dev/null
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000037.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000037.json
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000038.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/json_data/mask_000038.json
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/000038.jpg b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/000038.jpg
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cba32e1e0b8e8aad8ad2352de13a87ca130a20c3
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.87, 9.77, 10.27, 10.7]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.31, -1.18, -1.21, -1.21
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19517ca0bbaf3ada7b3eb68b1b9ff5de8cffae97
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000006/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the left lane, red color
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue moving forward
+  - Object 2: Vehicle in the center lane, orange color
+    - Potential Effects: Directly in the path, maintain safe distance
+    - Future Behavior: Likely to continue moving forward
+  - Object 3: Vehicle in the center lane, yellow color
+    - Potential Effects: Directly in the path, maintain safe distance
+    - Future Behavior: Likely to continue moving forward
+  - Object 10: Vehicle in the left lane, gray color
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue moving forward
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear road conditions and a green traffic light.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane changes are possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, allowing for continuous movement at a constant speed.
+- **Driving Plan:** Continue moving forward, maintaining a safe distance from objects 2 and 3.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8609e3123887d3d05438fc28478617bde5c468da
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [10.7, 11.2, 11.62, 11.78]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.21, -1.15, -1.19, -1.14
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ececb187813c307a29d0f5718071f4f50b720968
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 10): Vehicle in the same lane, black color
+    - Potential Effects: May slow down if traffic ahead is congested.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 3): Vehicle in the adjacent lane, orange color
+    - Potential Effects: May merge into the current lane.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 12): Vehicle parked on the side, blue color
+    - Potential Effects: No immediate effect unless it starts moving.
+    - Future Behavior: Likely to remain stationary.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward with a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events requiring a change in behavior or speed.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane discipline. Monitor vehicles ID 10 and ID 3 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8148a5fbedfadce209349474ca4fdd967ccbeb02
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [11.78, 12.18, 12.47, 12.81]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.14, -1.12, -1.18, -1.14
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..61a731f0bb1877b9cabd187cc0dd6efab96228b3
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey speed limits, and maintain lane discipline.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, left lane, red color
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 10): Vehicle, center lane, blue color
+    - Potential Effects: Directly in the path, may require speed adjustment
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 3): Vehicle, right lane, orange color
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue moving forward
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car has been maintaining a steady speed due to clear traffic conditions.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with no immediate obstacles; maintaining current speed and lane is optimal.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 1, 10, and 3 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/gt_fut_traj.pkl
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d359e87546e1977397d111ddc9c1edc276ce705737e0eced8dcb5fd4dd8a9e8d
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701722bac68214cc18d8610dadf90b0f96b1c7d0cd90c0a9afb6c7599f0b68e5
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2840f7fc0b33674c0306914444ba9be65a0c5fc1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.81, 12.9, 12.91, 12.74]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.14, -1.13, -1.15, -1.12
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..db9b739ae8ce56c866e9d859893b94574fe2cbd5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000024/response.txt
@@ -0,0 +1,45 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and proceed on green light.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, left lane, black
+    - Potential Effects: May slow down or change lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 10): Vehicle, center lane, white
+    - Potential Effects: Directly in path; maintain safe distance.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 11): Vehicle, right lane, gray
+    - Potential Effects: May merge into center lane.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, allowing for continued forward movement at a constant speed.
+- **Driving Plan:** Continue moving forward, maintaining a safe distance from Object ID 10.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No conflicts detected.
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/gt_fut_traj.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5a3ce92d6a2986e9f09f30f8fe242eb93c23baae6d61df865f981d0b333a52
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/gt_fut_traj_mask.pkl
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index 0000000000000000000000000000000000000000..f73bca2aab5d042851616d73a3bb7f431645ef18
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe5a637da1df1d337cf361f4eefd7deb8d4dd76e273c1627aed65e1e3daf7fa6
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b26d0eb91e912118dd86075bbfe01e7d6fe63148
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.74, 12.74, 12.36, 12.32]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.12, -0.81, -1.06, -0.96
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..69a4bc6e9155cafce4c8530a7bad2386afc96804
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000030/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey traffic lights, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 15: Vehicle (white van) in the left lane
+    - Potential Effects: May block lane change to the left
+    - Future Behavior: Likely to continue moving forward
+  - Object 1: Vehicle (red car) in the same lane ahead
+    - Potential Effects: May require maintaining a safe distance
+    - Future Behavior: Likely to continue moving forward
+  - Object 14: Vehicle (blue car) in the adjacent lane
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue moving forward
+  - Object 10: Vehicle (green car) in the adjacent lane
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue moving forward
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego vehicle was moving forward at a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the road ahead is clear, allowing for continuous forward movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, keeping an eye on vehicles 1, 14, and 10.
+
+*****Reflection:*****
+- **Self-Consistency:** The analysis is consistent with the current traffic conditions and lane availability.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f76de3a2b1dfe7b57be2bf9d836bf7e291e9d950
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4de31154a7f2a598d34d07e229160002e180fe28cb546f76498052f856308c9
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..27d0cee3759b73a2ba306830dd86efdeef83b81b
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:544cf3995fa3f1b8c298aec3ef43d8ebad4f7ef166c3b309da5edf8d9b5c2280
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59aa841f3f2f62bdecf7f64b730fd8d3722bef30
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.32, 12.42, 12.34, 12.44]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.96, -1.12, -1.15, -1.02
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7ab8d25e743bac74d6dc3543dd0dc3fbfc963b2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_3/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Proceed through green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 15): White vehicle in the same lane, slightly ahead.
+    - Potential Effects: May slow down or change lanes, affecting our speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 14): Vehicle in the adjacent lane to the left.
+    - Potential Effects: May merge into our lane or maintain its path.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 10): Vehicle in the adjacent lane to the right.
+    - Potential Effects: May merge into our lane or maintain its path.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to the green light and clear path.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The green light and clear path ahead allow for continued forward movement at a constant speed. No immediate need for lane changes or speed adjustments.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles ID 15, 14, and 10 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000000.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a000fa4d998666c2689217b7415937f64665cf7
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 601, "y1": 512, "x2": 696, "y2": 564, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 676, "y1": 518, "x2": 739, "y2": 571, "logit": 0.0, "location": [54.01323383906856, 8.757458622858394, 0.6354151553750853], "size": [2.015071392059326, 4.833843231201172, 1.8525733947753906], "instance_token": "7eb27ffb7ad45532"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 618, "x2": 550, "y2": 1042, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000001.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..4098d92d16967cd9141b4d3a3bf340f94cbafdaf
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000001.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000002.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..a617b71d794e427859a666120acdd0a1d52374df
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000002.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000003.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..c178cc6ccce3eebc1dbcc05cd50f5a3d7b47af0d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000003.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000004.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c47e320f5ec328f97a5e24a68e6f3b2f8a8dbfc
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000004.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000005.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..af127017e392619a9c91c9e1b09ba8b9d5cbbc7d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000005.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000006.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..51011f24ba9193bb31d34255c350591b9d5a466d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000007.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b89c8debd9b65ddc0370282afeb121204c29b8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000007.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000008.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..40e15a78a6529719b6d86110c9f693ac0b3f39eb
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000008.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000009.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad52c4fe6bc69b20022fb2c10ccdc492a344f8eb
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 627, "y1": 515, "x2": 712, "y2": 584, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 645, "x2": 464, "y2": 1079, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1509, "y1": 543, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 713, "y1": 556, "x2": 1135, "y2": 923, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1132, "y1": 557, "x2": 1329, "y2": 689, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 485, "y1": 567, "x2": 727, "y2": 727, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1064, "y1": 540, "x2": 1170, "y2": 631, "logit": 0.0, "location": [29.18044800683856, -2.8088920249720104, 0.44384798742248677], "size": [1.8632574081420898, 4.4262003898620605, 1.5151393413543701], "instance_token": "1afcd6f479355713"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 876, "y1": 516, "x2": 995, "y2": 557, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 743, "y1": 523, "x2": 767, "y2": 539, "logit": 0.0, "location": [65.08092438010499, 9.431678443623241, 0.9018482488118025], "size": [1.8556466102600098, 4.424006938934326, 1.7229057550430298], "instance_token": "37c6186195795368"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000010.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3fcb2e0ca067fbca2d39576ca878f996987cf6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000010.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000011.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d88d8302258103ae6cee1810ef637894604ff5b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 652, "y1": 517, "x2": 732, "y2": 577, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 643, "x2": 470, "y2": 1079, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1430, "y1": 513, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 713, "y1": 557, "x2": 1134, "y2": 923, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1116, "y1": 553, "x2": 1293, "y2": 673, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 495, "y1": 566, "x2": 731, "y2": 724, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1057, "y1": 538, "x2": 1148, "y2": 621, "logit": 0.0, "location": [29.18044800683856, -2.8088920249720104, 0.44384798742248677], "size": [1.8632574081420898, 4.4262003898620605, 1.5151393413543701], "instance_token": "1afcd6f479355713"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 874, "y1": 516, "x2": 979, "y2": 557, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 750, "y1": 524, "x2": 774, "y2": 538, "logit": 0.0, "location": [65.08092438010499, 9.431678443623241, 0.9018482488118025], "size": [1.8556466102600098, 4.424006938934326, 1.7229057550430298], "instance_token": "37c6186195795368"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000012.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca562d2c38703f4e9031baa76da790771c7dd77
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 666, "y1": 517, "x2": 743, "y2": 575, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 641, "x2": 483, "y2": 1079, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1394, "y1": 511, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 716, "y1": 555, "x2": 1130, "y2": 918, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1104, "y1": 551, "x2": 1274, "y2": 665, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 514, "y1": 565, "x2": 739, "y2": 715, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1049, "y1": 537, "x2": 1134, "y2": 614, "logit": 0.0, "location": [29.18044800683856, -2.8088920249720104, 0.44384798742248677], "size": [1.8632574081420898, 4.4262003898620605, 1.5151393413543701], "instance_token": "1afcd6f479355713"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 876, "y1": 515, "x2": 970, "y2": 555, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 755, "y1": 524, "x2": 776, "y2": 538, "logit": 0.0, "location": [65.08092438010499, 9.431678443623241, 0.9018482488118025], "size": [1.8556466102600098, 4.424006938934326, 1.7229057550430298], "instance_token": "37c6186195795368"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 786, "y1": 521, "x2": 840, "y2": 557, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 821, "y1": 521, "x2": 846, "y2": 557, "logit": 0.0, "location": [75.8188620172441, 6.269507359887939, 0.5586998183862306], "size": [1.8622928857803345, 4.546975135803223, 1.7265042066574097], "instance_token": "d51f5f48ee635b5a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000013.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..73f182e36e4155387f05ad55e8c7c013c720c480
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000013.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000014.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..85246c57833d6f109ca93a93cfc7c5c110d0ae6d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 691, "y1": 518, "x2": 756, "y2": 569, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 628, "x2": 522, "y2": 1077, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1308, "y1": 516, "x2": 1919, "y2": 1018, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 751, "y1": 551, "x2": 1097, "y2": 859, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1081, "y1": 549, "x2": 1228, "y2": 647, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 576, "y1": 559, "x2": 759, "y2": 687, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1030, "y1": 537, "x2": 1107, "y2": 603, "logit": 0.0, "location": [29.18044800683856, -2.8088920249720104, 0.44384798742248677], "size": [1.8632574081420898, 4.4262003898620605, 1.5151393413543701], "instance_token": "1afcd6f479355713"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 880, "y1": 517, "x2": 962, "y2": 552, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 761, "y1": 525, "x2": 782, "y2": 549, "logit": 0.0, "location": [65.08092438010499, 9.431678443623241, 0.9018482488118025], "size": [1.8556466102600098, 4.424006938934326, 1.7229057550430298], "instance_token": "37c6186195795368"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 788, "y1": 522, "x2": 841, "y2": 551, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 817, "y1": 522, "x2": 843, "y2": 551, "logit": 0.0, "location": [75.8188620172441, 6.269507359887939, 0.5586998183862306], "size": [1.8622928857803345, 4.546975135803223, 1.7265042066574097], "instance_token": "d51f5f48ee635b5a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000015.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cc54c14de616a62b6921d1cf215ff3ce079af20
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 705, "y1": 522, "x2": 760, "y2": 568, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 619, "x2": 556, "y2": 1013, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1261, "y1": 519, "x2": 1910, "y2": 930, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 773, "y1": 550, "x2": 1071, "y2": 813, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1074, "y1": 549, "x2": 1208, "y2": 642, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 607, "y1": 558, "x2": 771, "y2": 674, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1021, "y1": 538, "x2": 1094, "y2": 601, "logit": 0.0, "location": [29.18044800683856, -2.8088920249720104, 0.44384798742248677], "size": [1.8632574081420898, 4.4262003898620605, 1.5151393413543701], "instance_token": "1afcd6f479355713"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 880, "y1": 520, "x2": 960, "y2": 550, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 760, "y1": 528, "x2": 786, "y2": 555, "logit": 0.0, "location": [65.08092438010499, 9.431678443623241, 0.9018482488118025], "size": [1.8556466102600098, 4.424006938934326, 1.7229057550430298], "instance_token": "37c6186195795368"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 788, "y1": 524, "x2": 838, "y2": 548, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 818, "y1": 524, "x2": 839, "y2": 547, "logit": 0.0, "location": [75.8188620172441, 6.269507359887939, 0.5586998183862306], "size": [1.8622928857803345, 4.546975135803223, 1.7265042066574097], "instance_token": "d51f5f48ee635b5a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000016.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..992497e2bea2cb55d54bf8283d2a88be5b0ee021
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 711, "y1": 524, "x2": 773, "y2": 567, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 11, "y1": 612, "x2": 591, "y2": 955, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1224, "y1": 521, "x2": 1763, "y2": 872, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 792, "y1": 551, "x2": 1049, "y2": 776, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1065, "y1": 549, "x2": 1191, "y2": 636, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 634, "y1": 558, "x2": 778, "y2": 662, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 881, "y1": 522, "x2": 951, "y2": 550, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 790, "y1": 528, "x2": 835, "y2": 546, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000017.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e5d4cd0156d43135ce285e2e047b0f4ef65ed0f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 717, "y1": 527, "x2": 775, "y2": 562, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 143, "y1": 602, "x2": 631, "y2": 896, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1203, "y1": 523, "x2": 1678, "y2": 837, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 809, "y1": 551, "x2": 1032, "y2": 745, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1059, "y1": 550, "x2": 1179, "y2": 633, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 654, "y1": 557, "x2": 784, "y2": 653, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 884, "y1": 523, "x2": 953, "y2": 551, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 795, "y1": 529, "x2": 836, "y2": 547, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000018.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f03bceab1cd34b345ddf470849eb9ad688c6020
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 728, "y1": 526, "x2": 785, "y2": 561, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 253, "y1": 593, "x2": 660, "y2": 842, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1196, "y1": 523, "x2": 1644, "y2": 823, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 824, "y1": 549, "x2": 1020, "y2": 720, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1057, "y1": 550, "x2": 1173, "y2": 630, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 670, "y1": 555, "x2": 789, "y2": 644, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 886, "y1": 525, "x2": 951, "y2": 549, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 799, "y1": 530, "x2": 839, "y2": 548, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000019.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..d138b615387b4c3b6b4e66ca977ba572176b80c1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 734, "y1": 528, "x2": 789, "y2": 561, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 329, "y1": 587, "x2": 678, "y2": 807, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1200, "y1": 523, "x2": 1652, "y2": 824, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 835, "y1": 547, "x2": 1012, "y2": 703, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1054, "y1": 550, "x2": 1165, "y2": 625, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 683, "y1": 554, "x2": 793, "y2": 637, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 886, "y1": 525, "x2": 950, "y2": 548, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 805, "y1": 530, "x2": 843, "y2": 548, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000020.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d9f550f573e9c2c162b9a8006d8721fd5e70a8f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 742, "y1": 531, "x2": 795, "y2": 563, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 384, "y1": 586, "x2": 693, "y2": 781, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1214, "y1": 525, "x2": 1698, "y2": 842, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 840, "y1": 548, "x2": 1005, "y2": 691, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1051, "y1": 549, "x2": 1160, "y2": 624, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 689, "y1": 554, "x2": 794, "y2": 634, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 889, "y1": 527, "x2": 949, "y2": 548, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 810, "y1": 532, "x2": 845, "y2": 547, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000021.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a03bdb0eec428afef1e7a67a247f796219f07ee
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 748, "y1": 528, "x2": 799, "y2": 565, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 423, "y1": 580, "x2": 706, "y2": 762, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1241, "y1": 525, "x2": 1792, "y2": 878, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 846, "y1": 546, "x2": 1001, "y2": 680, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1053, "y1": 549, "x2": 1159, "y2": 623, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 696, "y1": 553, "x2": 797, "y2": 627, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 887, "y1": 525, "x2": 945, "y2": 546, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 812, "y1": 533, "x2": 847, "y2": 545, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000022.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48973b3fd0d9d2aee63026fb34fcc59f3f86c87
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 754, "y1": 531, "x2": 802, "y2": 570, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 448, "y1": 579, "x2": 713, "y2": 750, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1280, "y1": 527, "x2": 1919, "y2": 943, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 849, "y1": 546, "x2": 998, "y2": 676, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1056, "y1": 552, "x2": 1162, "y2": 625, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 698, "y1": 554, "x2": 797, "y2": 626, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 887, "y1": 528, "x2": 941, "y2": 546, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 813, "y1": 535, "x2": 852, "y2": 547, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000023.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ccaf360e64e7a4b4d4dfe9cb3529c5ce70ef96d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 757, "y1": 526, "x2": 806, "y2": 565, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 464, "y1": 571, "x2": 719, "y2": 735, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1331, "y1": 524, "x2": 1919, "y2": 1028, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 851, "y1": 541, "x2": 996, "y2": 667, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1061, "y1": 547, "x2": 1168, "y2": 622, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 698, "y1": 547, "x2": 796, "y2": 618, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 891, "y1": 522, "x2": 941, "y2": 540, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 815, "y1": 531, "x2": 850, "y2": 544, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000024.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4e024824dd939ecd1c647f32a0223356cf75d9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 765, "y1": 524, "x2": 805, "y2": 562, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 476, "y1": 569, "x2": 725, "y2": 727, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1399, "y1": 520, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 851, "y1": 538, "x2": 995, "y2": 661, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1071, "y1": 546, "x2": 1180, "y2": 622, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 698, "y1": 545, "x2": 797, "y2": 615, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 892, "y1": 520, "x2": 941, "y2": 537, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 820, "y1": 529, "x2": 855, "y2": 540, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 583, "x2": 275, "y2": 791, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 976, "y1": 532, "x2": 1029, "y2": 575, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 969, "y1": 525, "x2": 1026, "y2": 570, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67445"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000025.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e183e3256e5978558e6fb390e30ff4db82066a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 777, "y1": 520, "x2": 818, "y2": 556, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 488, "y1": 562, "x2": 734, "y2": 720, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1468, "y1": 513, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 852, "y1": 533, "x2": 996, "y2": 657, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1084, "y1": 542, "x2": 1200, "y2": 624, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 699, "y1": 541, "x2": 795, "y2": 610, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 892, "y1": 515, "x2": 947, "y2": 533, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 821, "y1": 527, "x2": 861, "y2": 539, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 577, "x2": 288, "y2": 781, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 985, "y1": 530, "x2": 1039, "y2": 572, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 980, "y1": 524, "x2": 1040, "y2": 572, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67445"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000026.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..b24890caaf6705ace5118b68cfc4d1a806ddd0ad
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 781, "y1": 520, "x2": 825, "y2": 555, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 500, "y1": 561, "x2": 742, "y2": 718, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1539, "y1": 534, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 856, "y1": 533, "x2": 997, "y2": 657, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1100, "y1": 544, "x2": 1223, "y2": 632, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 700, "y1": 540, "x2": 788, "y2": 610, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 900, "y1": 515, "x2": 956, "y2": 533, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 827, "y1": 529, "x2": 860, "y2": 541, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 574, "x2": 301, "y2": 773, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 993, "y1": 531, "x2": 1055, "y2": 576, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 993, "y1": 529, "x2": 1057, "y2": 575, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63099"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000027.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cd936998d8b5722cd0325be7e6faf1d187f54c0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 789, "y1": 526, "x2": 830, "y2": 559, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 515, "y1": 564, "x2": 752, "y2": 718, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1607, "y1": 573, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 857, "y1": 537, "x2": 998, "y2": 661, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1118, "y1": 550, "x2": 1254, "y2": 644, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 696, "y1": 544, "x2": 776, "y2": 613, "logit": 0.0, "location": [17.782711574342102, 3.2930060338112526, 0.3895914046370308], "size": [1.8505409955978394, 4.484803676605225, 1.4947761297225952], "instance_token": "1cd050e87dcd559c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 904, "y1": 520, "x2": 956, "y2": 536, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 835, "y1": 532, "x2": 874, "y2": 543, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 578, "x2": 317, "y2": 770, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1005, "y1": 536, "x2": 1069, "y2": 584, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1005, "y1": 534, "x2": 1071, "y2": 585, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63099"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000028.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..143d5b0c8489922b1bf96a7c23da3abd5cb102b2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000028.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000029.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea4a2c404d97bbc7494aca504896c43721cb248
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 809, "y1": 525, "x2": 850, "y2": 559, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 561, "y1": 563, "x2": 781, "y2": 708, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1804, "y1": 761, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 865, "y1": 537, "x2": 1011, "y2": 664, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1172, "y1": 557, "x2": 1350, "y2": 676, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 925, "y1": 521, "x2": 972, "y2": 539, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 848, "y1": 535, "x2": 877, "y2": 546, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 577, "x2": 343, "y2": 765, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1034, "y1": 540, "x2": 1108, "y2": 593, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1034, "y1": 539, "x2": 1109, "y2": 593, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1002, "y1": 527, "x2": 1070, "y2": 575, "logit": 0.0, "location": [69.31149705732241, -2.196710052085109, 0.2040203032665886], "size": [1.9492884874343872, 4.6852922439575195, 1.6750540733337402], "instance_token": "134bad8cc0ed5d1d"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 169, "y1": 541, "x2": 267, "y2": 573, "logit": 0.0, "location": [49.65635439986363, 21.206651173124555, 0.1335463395662373], "size": [2.0345048904418945, 5.684004306793213, 1.7621943950653076], "instance_token": "796ff92250335ee4"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000030.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..5968c3bafff74c6e4cb09ea48876cd501ba697b6
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 815, "y1": 522, "x2": 855, "y2": 556, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 581, "y1": 558, "x2": 789, "y2": 697, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 865, "y1": 534, "x2": 1015, "y2": 665, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1207, "y1": 560, "x2": 1423, "y2": 701, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 929, "y1": 520, "x2": 976, "y2": 534, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 851, "y1": 532, "x2": 884, "y2": 543, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 576, "x2": 346, "y2": 763, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1045, "y1": 536, "x2": 1128, "y2": 595, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1045, "y1": 536, "x2": 1128, "y2": 595, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1015, "y1": 524, "x2": 1082, "y2": 575, "logit": 0.0, "location": [69.31149705732241, -2.196710052085109, 0.2040203032665886], "size": [1.9492884874343872, 4.6852922439575195, 1.6750540733337402], "instance_token": "134bad8cc0ed5d1d"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 9, "y1": 533, "x2": 186, "y2": 597, "logit": 0.0, "location": [49.65635439986363, 21.206651173124555, 0.1335463395662373], "size": [2.0345048904418945, 5.684004306793213, 1.7621943950653076], "instance_token": "796ff92250335ee4"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000031.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..78614eb064b58c5d49f9c3928d0acbfef07b1f54
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 820, "y1": 517, "x2": 862, "y2": 554, "logit": 0.0, "location": [41.41160682821646, 8.085570432827808, 0.8145431299199117], "size": [2.2537119388580322, 5.397146224975586, 2.3796002864837646], "instance_token": "476708353d755196"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 598, "y1": 553, "x2": 796, "y2": 688, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 864, "y1": 530, "x2": 1017, "y2": 666, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1251, "y1": 564, "x2": 1521, "y2": 734, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 927, "y1": 516, "x2": 978, "y2": 530, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 853, "y1": 529, "x2": 888, "y2": 540, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 574, "x2": 339, "y2": 765, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1055, "y1": 535, "x2": 1148, "y2": 598, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1055, "y1": 534, "x2": 1148, "y2": 598, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1030, "y1": 520, "x2": 1090, "y2": 575, "logit": 0.0, "location": [69.31149705732241, -2.196710052085109, 0.2040203032665886], "size": [1.9492884874343872, 4.6852922439575195, 1.6750540733337402], "instance_token": "134bad8cc0ed5d1d"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [49.65635439986363, 21.206651173124555, 0.1335463395662373], "size": [2.0345048904418945, 5.684004306793213, 1.7621943950653076], "instance_token": "796ff92250335ee4"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000032.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..eda14856a07045f7e985fb8bb28e60841e13696f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 614, "y1": 553, "x2": 800, "y2": 680, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 862, "y1": 532, "x2": 1018, "y2": 669, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1311, "y1": 577, "x2": 1663, "y2": 786, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 931, "y1": 520, "x2": 974, "y2": 531, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 854, "y1": 532, "x2": 884, "y2": 543, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 575, "x2": 335, "y2": 771, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1061, "y1": 539, "x2": 1167, "y2": 606, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1061, "y1": 540, "x2": 1163, "y2": 606, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1034, "y1": 523, "x2": 1095, "y2": 580, "logit": 0.0, "location": [69.31149705732241, -2.196710052085109, 0.2040203032665886], "size": [1.9492884874343872, 4.6852922439575195, 1.6750540733337402], "instance_token": "134bad8cc0ed5d1d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000033.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..40cc25639a61e74c3ab5e69ee5fdfe813b496e65
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 634, "y1": 558, "x2": 806, "y2": 678, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 862, "y1": 538, "x2": 1021, "y2": 677, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1401, "y1": 598, "x2": 1895, "y2": 876, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 929, "y1": 524, "x2": 976, "y2": 538, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 856, "y1": 538, "x2": 883, "y2": 550, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 581, "x2": 329, "y2": 780, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1072, "y1": 544, "x2": 1186, "y2": 619, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1072, "y1": 544, "x2": 1185, "y2": 619, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1039, "y1": 528, "x2": 1103, "y2": 588, "logit": 0.0, "location": [69.31149705732241, -2.196710052085109, 0.2040203032665886], "size": [1.9492884874343872, 4.6852922439575195, 1.6750540733337402], "instance_token": "134bad8cc0ed5d1d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000034.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b3509f828011067b1c83224d8efe419e55c6d78
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 652, "y1": 554, "x2": 814, "y2": 667, "logit": 0.0, "location": [7.779338598717004, 3.055359122925438, 0.39019184585049516], "size": [1.8253419399261475, 4.560774326324463, 1.4535105228424072], "instance_token": "92167ad6788352ce"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.313558948226273, -3.111066697863862, 0.6552907249933924], "size": [2.216452121734619, 5.687682151794434, 2.0189595222473145], "instance_token": "7c1f1f37dd085498"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 863, "y1": 535, "x2": 1025, "y2": 677, "logit": 0.0, "location": [11.219342096708715, 0.17237218393711373, 0.5082550013103173], "size": [1.9415876865386963, 4.277376651763916, 1.6955623626708984], "instance_token": "3bc9e933ba0056d9"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1554, "y1": 627, "x2": 1919, "y2": 1052, "logit": 0.0, "location": [18.120319325942546, -3.1303744863544125, 0.4406361555229523], "size": [1.7858868837356567, 4.474925518035889, 1.5207452774047852], "instance_token": "ded56c0eece155fe"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 934, "y1": 523, "x2": 978, "y2": 535, "logit": 0.0, "location": [28.595976861659437, 0.5491690046910662, 0.7552399463456823], "size": [2.1281864643096924, 5.254181385040283, 2.1376185417175293], "instance_token": "29f3d9ad8ff35088"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 858, "y1": 535, "x2": 888, "y2": 546, "logit": 0.0, "location": [59.60904251784086, 5.722154631832382, 0.6199927746711182], "size": [1.982008934020996, 4.806460857391357, 1.7998569011688232], "instance_token": "e533f620deba5e2b"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 581, "x2": 325, "y2": 783, "logit": 0.0, "location": [12.5301348217763, 6.939733197854366, 0.3540276585426909], "size": [1.8735532760620117, 4.751110553741455, 1.5950592756271362], "instance_token": "e6fb9c3018865978"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1082, "y1": 541, "x2": 1205, "y2": 622, "logit": 0.0, "location": [55.36089957598597, -1.4304157012957148, 0.34792760817799717], "size": [1.9066524505615234, 4.564413070678711, 1.6538857221603394], "instance_token": "f589a0a2ce155e09"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1082, "y1": 541, "x2": 1206, "y2": 622, "logit": 0.0, "location": [66.31064018281177, -1.1626514316885732, 0.6049405308240239], "size": [1.9865137338638306, 4.829115390777588, 1.8200033903121948], "instance_token": "4b4af0812b485baf"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1044, "y1": 526, "x2": 1114, "y2": 587, "logit": 0.0, "location": [69.31149705732241, -2.196710052085109, 0.2040203032665886], "size": [1.9492884874343872, 4.6852922439575195, 1.6750540733337402], "instance_token": "134bad8cc0ed5d1d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000035.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db7f23a235f17affbad5d31557a756cdaaa2b11
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000035.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000036.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c9f650e3e27192da30d0132186da011fcd784b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000036.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000037.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d6bb7278326e49697faf515ad91469c7cc1afde
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000037.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000038.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2d4b0207b1fa2e2da1951878bbe04aef89a1446
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/json_data/mask_000038.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000000.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000000.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000001.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000001.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000002.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000002.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000003.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/mask_data/mask_000003.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/prompt.txt
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.88, 0.81, 0.32, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.16, -1.06, -0.75, -9.49
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..22be766f4fb5c40bad8a2bc33649db8d29467f3d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: Heavy traffic
+  - Traffic rules: Maintain lane discipline, avoid sudden lane changes, and keep a safe distance from the vehicle ahead.
+
+- **Notable Objects:**
+  - Object (ID 10): Vehicle in the same lane, gray color
+    - Potential Effects: May slow down or stop due to traffic
+    - Future Behavior: Likely to maintain current speed or decelerate
+  - Object (ID 3): Vehicle in the left lane, black color
+    - Potential Effects: May attempt to change lanes
+    - Future Behavior: Likely to maintain lane or change to the right
+  - Object (ID 4): Vehicle in the right lane, white color
+    - Potential Effects: May attempt to change lanes
+    - Future Behavior: Likely to maintain lane or change to the left
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to the heavy traffic and lack of space for acceleration.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane changes are possible but should be cautious due to traffic density.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** Due to heavy traffic, maintaining a constant speed is advisable to ensure safety and avoid sudden stops.
+- **Driving Plan:** Continue moving forward at a constant speed, keeping a safe distance from Object ID 10.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The plan to maintain a constant speed is consistent with the current traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "5",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/prompt.txt
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index 0000000000000000000000000000000000000000..60dedfe80d7524fc62c816bde0b11fd657f4cbcd
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -9.49, -179.02, -137.56, -85.98
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85364472898060caacf6bb76cd36ef8d37f7ebb7
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: Heavy traffic
+  - Traffic rules: Maintain lane discipline, avoid overtaking unless safe, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 5: Vehicle, center lane, gray
+    - Potential Effects: Directly in front, may require stopping or slowing down.
+    - Future Behavior: Likely to continue moving slowly due to traffic.
+  - Object 3: Vehicle, left lane, orange
+    - Potential Effects: May block lane change to the left.
+    - Future Behavior: Likely to continue moving slowly due to traffic.
+  - Object 4: Vehicle, right lane, black
+    - Potential Effects: May block lane change to the right.
+    - Future Behavior: Likely to continue moving slowly due to traffic.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to the slow-moving traffic.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible but blocked by traffic.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** Due to heavy traffic and vehicles blocking potential lane changes, maintaining a constant speed is the safest option.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring the vehicles in front (Object 5).
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed align with the current traffic conditions and notable objects.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "5",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44e13f9784ba7e0d69c250e171b6be0203bbb05b
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.03, 0.63, 2.22]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -85.98, -2.08, -2.06, -1.36
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd153bc32fccfd58de228071c11848e49061e7b8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and ensure safe following distance.
+
+- **Notable Objects:**
+  - Object (1): Vehicle in the same lane, silver color
+    - Potential Effects: May slow down or stop, requiring adjustment in speed.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+  - Object (3): Vehicle in the left lane, black color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to maintain current lane.
+  - Object (4): Vehicle in the right lane, black color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to maintain current lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear with no immediate obstacles, allowing for continued movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles 1, 3, and 4 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..29a31c9cfb89a8eb3327247ec6a888aa4e7d7004
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a0e64c1a3b25639212155d24988e635b49ede0e5c2c97ead1e0ed643aa89f5
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a45b36108439ad03a69f38a31bcb2a5e132aa013
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0f72cb8f41dbf255baf0ddb7bc0c90f90cc679cb214c75162debeb31f119a8
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8a97a1bff401b3415e32278a2422f189d54bbb46
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [2.22, 3.99, 5.75, 7.1]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.36, -1.02, -1.02, -1.11
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a7e7656b4008812f02cd98a1d50a9d1489c7f2f5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000024/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of vehicles in adjacent lanes.
+
+- **Notable Objects:**
+  - Object 3: Vehicle, in the same lane, black color
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+  - Object 4: Vehicle, in the right lane, black color
+    - Potential Effects: May merge into our lane or maintain its position.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 5: Vehicle, in the left lane, white color
+    - Potential Effects: May merge into our lane or maintain its position.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 7: Vehicle, in the left lane, white color
+    - Potential Effects: May merge into our lane or maintain its position.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 8: Vehicle, in the same lane, white color
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear traffic conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic is flowing smoothly with no immediate obstacles or traffic lights. Maintaining a constant speed is appropriate.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 3 and 8 for any changes in speed.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8c8938583cae86e7e3a720e50cd8842b62d6d4c9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:079b9655e4b3784fa421298e834a823e1301cc78075342886a66c8f66f13fcc4
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..304477600588c6272437011781dac779f3f8be35
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcb1134af2e72e6b023bf5a038ae9e039981e1e3e1fa3f01aeb2bc3611566b84
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8cfe2f2a2f49407816527829fff25e20b4744791
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.1, 7.48, 7.6, 7.9]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.11, -1.22, -1.04, -0.89
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdcb13f1951b39302a0b8da15efc6b6c0fedfbbf
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey lane markings, maintain speed limits.
+
+- **Notable Objects:**
+  - Object (ID 5): Vehicle in the same lane, black color
+    - Potential Effects: May slow down traffic in the lane
+    - Future Behavior: Likely to maintain current speed or slow down
+  - Object (ID 20): Vehicle in the adjacent left lane, white color
+    - Potential Effects: May block lane change to the left
+    - Future Behavior: Likely to maintain current speed
+  - Object (ID 7): Vehicle in the adjacent right lane, green color
+    - Potential Effects: May block lane change to the right
+    - Future Behavior: Likely to maintain current speed
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear traffic conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The current lane is clear with no immediate obstacles, and lane changes are blocked by adjacent vehicles.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 5, 20, and 7.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..542b21da7602ca5d4d0bbbaf3fb7e5ba5260f36a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a506b6cfd95cbb18a8dcfeb5a24064ab7de51eff7324c82e33c663f4871534d
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2b005e7c004e1673fd36b176cf90c6b29bae4591
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af175c7720815c6fafcb23ff979acece744f66ad315fce622fe082eb14d67829
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6f0b0031371e8c29e30b051721a3e17fb98d2b3
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.9, 7.86, 7.95, 7.67]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.89, -1.21, -1.33, -1.04
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..452fe30dcf05eb74bfc1200dd221873498650fa1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_6/result/output_000036/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 19): Vehicle, left lane, black color
+    - Potential Effects: May block lane change to the left
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object (ID 3): Vehicle, center lane, orange color
+    - Potential Effects: Directly in front, requires stopping
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object (ID 5): Vehicle, center lane, yellow color
+    - Potential Effects: In front, requires stopping
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object (ID 22): Vehicle, center lane, blue color
+    - Potential Effects: In front, requires stopping
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object (ID 7): Vehicle, right lane, green color
+    - Potential Effects: May block lane change to the right
+    - Future Behavior: Likely to remain stationary due to red light
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed as there were no immediate obstacles or traffic signals requiring a stop.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if clear.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light ahead necessitates stopping to comply with traffic rules.
+- **Driving Plan:** Stop behind the vehicles in front (IDs 3, 5, 22).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The red light and vehicles ahead require stopping.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000000.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b116b58cbb5f770b57e9c16ebc201bb7bf0dd41
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 279, "y1": 587, "x2": 690, "y2": 843, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 869, "y1": 540, "x2": 1050, "y2": 699, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 628, "y1": 532, "x2": 719, "y2": 607, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1214, "y1": 556, "x2": 1455, "y2": 712, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1514, "y1": 636, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 686, "y1": 545, "x2": 818, "y2": 639, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1073, "y1": 531, "x2": 1165, "y2": 600, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 826, "y1": 525, "x2": 893, "y2": 586, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 689, "y1": 518, "x2": 755, "y2": 547, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 506, "y1": 517, "x2": 572, "y2": 576, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000001.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..798ffe0fa30eee2adfeeb6c16b43ccc367881da8
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 253, "y1": 588, "x2": 678, "y2": 850, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 865, "y1": 539, "x2": 1046, "y2": 697, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 637, "y1": 532, "x2": 721, "y2": 604, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1190, "y1": 557, "x2": 1407, "y2": 695, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1461, "y1": 624, "x2": 1919, "y2": 1030, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 685, "y1": 544, "x2": 815, "y2": 636, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1060, "y1": 531, "x2": 1149, "y2": 598, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 827, "y1": 525, "x2": 893, "y2": 584, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 675, "y1": 518, "x2": 754, "y2": 545, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000002.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..628079448cdf82c76486a692b799151a2d001afb
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 258, "y1": 587, "x2": 674, "y2": 844, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 867, "y1": 539, "x2": 1041, "y2": 690, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 649, "y1": 530, "x2": 732, "y2": 599, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1167, "y1": 553, "x2": 1363, "y2": 682, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1402, "y1": 612, "x2": 1919, "y2": 954, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 687, "y1": 544, "x2": 814, "y2": 633, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1049, "y1": 532, "x2": 1133, "y2": 596, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 831, "y1": 526, "x2": 894, "y2": 582, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 666, "y1": 519, "x2": 721, "y2": 531, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 335, "y1": 515, "x2": 390, "y2": 573, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000003.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..035d837056ddce07fd94d6af3ae66467953bdad2
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 288, "y1": 587, "x2": 682, "y2": 832, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 874, "y1": 541, "x2": 1037, "y2": 681, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 666, "y1": 534, "x2": 741, "y2": 598, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1147, "y1": 553, "x2": 1323, "y2": 670, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1352, "y1": 601, "x2": 1833, "y2": 887, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 695, "y1": 547, "x2": 817, "y2": 633, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1043, "y1": 536, "x2": 1121, "y2": 596, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 836, "y1": 529, "x2": 899, "y2": 582, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 640, "y1": 521, "x2": 709, "y2": 553, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 214, "y1": 516, "x2": 334, "y2": 567, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000004.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd6ee82dbf23bad709da3672435a35ffd8b22a0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 326, "y1": 583, "x2": 690, "y2": 811, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 540, "x2": 1028, "y2": 669, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 681, "y1": 534, "x2": 741, "y2": 595, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1129, "y1": 555, "x2": 1285, "y2": 658, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1310, "y1": 593, "x2": 1715, "y2": 840, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 699, "y1": 545, "x2": 818, "y2": 628, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1036, "y1": 536, "x2": 1110, "y2": 593, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 840, "y1": 529, "x2": 899, "y2": 579, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 628, "y1": 520, "x2": 697, "y2": 576, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 175, "y2": 611, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 569, "y1": 535, "x2": 660, "y2": 590, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 471, "y1": 524, "x2": 560, "y2": 578, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000005.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..702c11f38323491ff365532ebfc084472f9fb195
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000005.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000006.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..10cdea5fe15b567c745e372ab0810d9ab60b90f1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 401, "y1": 576, "x2": 707, "y2": 768, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 884, "y1": 538, "x2": 1008, "y2": 646, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 705, "y1": 533, "x2": 758, "y2": 583, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1092, "y1": 550, "x2": 1228, "y2": 640, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1238, "y1": 579, "x2": 1545, "y2": 774, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 707, "y1": 546, "x2": 820, "y2": 623, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1025, "y1": 538, "x2": 1092, "y2": 590, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 844, "y1": 530, "x2": 898, "y2": 576, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 597, "y1": 521, "x2": 687, "y2": 588, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 517, "y1": 537, "x2": 620, "y2": 576, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 274, "y1": 537, "x2": 386, "y2": 602, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000007.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..852c0894207fc1290fd229c42954801b885c94e9
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 444, "y1": 573, "x2": 724, "y2": 751, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 890, "y1": 539, "x2": 1004, "y2": 639, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 719, "y1": 532, "x2": 773, "y2": 568, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1082, "y1": 548, "x2": 1210, "y2": 635, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1217, "y1": 575, "x2": 1490, "y2": 752, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 718, "y1": 546, "x2": 827, "y2": 620, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1025, "y1": 540, "x2": 1089, "y2": 588, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 850, "y1": 530, "x2": 903, "y2": 576, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 579, "y1": 520, "x2": 678, "y2": 584, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 489, "y1": 537, "x2": 602, "y2": 589, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 105, "y1": 524, "x2": 282, "y2": 609, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000008.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae461b8aeb9342215c5be36b437ce000c8931cb
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000008.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000009.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..14616dbb470f7729098169ba9faa648ac8113c89
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 513, "y1": 569, "x2": 755, "y2": 724, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 901, "y1": 541, "x2": 1001, "y2": 627, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 751, "y1": 534, "x2": 799, "y2": 552, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1072, "y1": 550, "x2": 1184, "y2": 629, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1183, "y1": 568, "x2": 1409, "y2": 717, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 738, "y1": 546, "x2": 840, "y2": 616, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1029, "y1": 541, "x2": 1091, "y2": 588, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 864, "y1": 531, "x2": 914, "y2": 574, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 530, "y1": 520, "x2": 643, "y2": 581, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 412, "y1": 539, "x2": 555, "y2": 625, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000010.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..81418490ff5f8ef36164e4b92a054f7cfa410e10
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 551, "y1": 566, "x2": 776, "y2": 711, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 913, "y1": 539, "x2": 1007, "y2": 620, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 764, "y1": 530, "x2": 809, "y2": 548, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1076, "y1": 548, "x2": 1180, "y2": 622, "logit": 0.0, "location": [17.862288871780038, -3.934036986785941, 0.3985398496079142], "size": [1.9257025718688965, 4.641615390777588, 1.5060763359069824], "instance_token": "134bad8cc0ed5d1d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1177, "y1": 564, "x2": 1385, "y2": 702, "logit": 0.0, "location": [6.847412632312626, -3.434053911245428, 0.3916826336135273], "size": [1.8452513217926025, 4.5449910163879395, 1.5347219705581665], "instance_token": "af03ea605ce35e7d"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 753, "y1": 543, "x2": 852, "y2": 611, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1036, "y1": 537, "x2": 1094, "y2": 586, "logit": 0.0, "location": [38.79413626994938, -3.7499349454883486, 0.4970121005026158], "size": [1.9863293170928955, 4.578944206237793, 1.801278829574585], "instance_token": "0fe0151f7ac057bc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 874, "y1": 528, "x2": 925, "y2": 571, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 498, "y1": 518, "x2": 628, "y2": 605, "logit": 0.0, "location": [61.56866575591266, 9.34102244710084, 0.582883078710438], "size": [2.1761908531188965, 5.5099663734436035, 2.2246994972229004], "instance_token": "308e84308fde52c1"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.41180683486164, 19.498125706915744, 0.08699893976881867], "size": [2.4344682693481445, 7.721853256225586, 2.693504571914673], "instance_token": "51feb5450ae35178"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 358, "y1": 540, "x2": 518, "y2": 635, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000011.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..476f1551fbed02442d083af4974f6b632693259b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000011.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000012.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2fa4fb5964b11ec416703a856d5d1f1c930e0d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 606, "y1": 557, "x2": 810, "y2": 689, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 937, "y1": 532, "x2": 1017, "y2": 602, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 781, "y1": 524, "x2": 827, "y2": 548, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000013.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..11c6493dc090a9828b95bb9408e5827470cdd470
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 619, "y1": 558, "x2": 814, "y2": 688, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 938, "y1": 532, "x2": 1014, "y2": 599, "logit": 0.0, "location": [19.027771393302828, 0.01998085784725845, 0.5418789231989649], "size": [1.9691053628921509, 4.436618328094482, 1.7387462854385376], "instance_token": "3bc9e933ba0056d9"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 781, "y1": 524, "x2": 825, "y2": 547, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000014.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c2835e412a0f1c2b283dffdabfc2d37678d436e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000014.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000015.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d8ed8942ee0fe3e9124eea6cbdb38ffbc7e71b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000015.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000016.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c0cfa49430dd0953f35363bbfc939df4c99507
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000016.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000017.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..259c616345208eae37c66bdb96f212687b93ad1e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000017.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000018.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..12d2d939354d3edf0a073cbf351fa1250ee4289f
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000018.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000019.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..f98e53533aea3921f102821521e6caa251f6dbeb
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000019.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000020.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2b9533da15d7be60b86366b14371a838120c03
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000020.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000021.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee13017ef4523f356482eb08e4072a1cbe3e4115
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000021.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000022.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7cf19cddb3496d48b8deff51fa4817641bef278
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000022.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000023.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd5588b0b28a2e112ebef42722f0ee8a452bb38
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000023.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000024.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..5197e60c3ff2cd4e0d72faacf3b0e5a59f4cf270
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000024.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000025.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f2152939e25e7cc016b68fe919df609b573555
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000025.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000026.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b79a167d9b4675d1cb7526506233bb8271cdb2d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000026.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000027.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..577330048b140b68a0535b6fd1eba5853995fe2e
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000027.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000028.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..d35baea93da212e971b6ff75a23b1661980d12da
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 739, "y1": 551, "x2": 863, "y2": 643, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 824, "y1": 534, "x2": 853, "y2": 545, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 830, "y1": 542, "x2": 890, "y2": 594, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 889, "y1": 531, "x2": 935, "y2": 568, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 134, "y1": 555, "x2": 258, "y2": 662, "logit": 0.0, "location": [40.31250412296504, 8.840052665327676, 0.533072807615099], "size": [1.883304476737976, 4.309080600738525, 1.7631926536560059], "instance_token": "db82ac7ea6195f7f"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 975, "y1": 527, "x2": 1011, "y2": 534, "logit": 0.0, "location": [69.80715591087937, -0.49211296485736966, 0.7767103063451941], "size": [1.964742660522461, 4.8568291664123535, 1.9491702318191528], "instance_token": "fcd3b13e8c765f02"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.73248845152557, 39.442943467758596, -1.433306371269282], "size": [1.916597843170166, 4.6701765060424805, 1.6688644886016846], "instance_token": "8e2ab1587f07568b"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1819, "y1": 503, "x2": 1919, "y2": 574, "logit": 0.0, "location": [32.621929339598864, -19.05825010710396, 1.2506003387170495], "size": [1.8415415287017822, 4.441568851470947, 1.575901746749878], "instance_token": "425c417f0f4a5716"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 634, "y1": 537, "x2": 703, "y2": 583, "logit": 0.0, "location": [59.343334562610835, 10.858817704604007, 0.05296367108257982], "size": [2.14076828956604, 4.798884868621826, 1.8908629417419434], "instance_token": "482007882ceb5b11"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 713, "y1": 533, "x2": 762, "y2": 568, "logit": 0.0, "location": [76.68990469817072, 10.996079911128618, 0.02645411032699485], "size": [1.8522166013717651, 4.435129165649414, 1.7252358198165894], "instance_token": "70e43414d6735c2c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"63": {"instance_id": 63, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "67": {"instance_id": 67, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "69": {"instance_id": 69, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000029.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3de9494535d73fbc3a972fc19b3ef1d90481ae1
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 737, "y1": 571, "x2": 857, "y2": 660, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 823, "y1": 553, "x2": 855, "y2": 564, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 824, "y1": 563, "x2": 886, "y2": 615, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 883, "y1": 553, "x2": 929, "y2": 590, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 19, "y1": 570, "x2": 132, "y2": 676, "logit": 0.0, "location": [40.31250412296504, 8.840052665327676, 0.533072807615099], "size": [1.883304476737976, 4.309080600738525, 1.7631926536560059], "instance_token": "db82ac7ea6195f7f"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 970, "y1": 547, "x2": 1004, "y2": 556, "logit": 0.0, "location": [69.80715591087937, -0.49211296485736966, 0.7767103063451941], "size": [1.964742660522461, 4.8568291664123535, 1.9491702318191528], "instance_token": "fcd3b13e8c765f02"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.73248845152557, 39.442943467758596, -1.433306371269282], "size": [1.916597843170166, 4.6701765060424805, 1.6688644886016846], "instance_token": "8e2ab1587f07568b"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.621929339598864, -19.05825010710396, 1.2506003387170495], "size": [1.8415415287017822, 4.441568851470947, 1.575901746749878], "instance_token": "425c417f0f4a5716"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 599, "y1": 556, "x2": 673, "y2": 606, "logit": 0.0, "location": [59.343334562610835, 10.858817704604007, 0.05296367108257982], "size": [2.14076828956604, 4.798884868621826, 1.8908629417419434], "instance_token": "482007882ceb5b11"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 696, "y1": 555, "x2": 742, "y2": 590, "logit": 0.0, "location": [76.68990469817072, 10.996079911128618, 0.02645411032699485], "size": [1.8522166013717651, 4.435129165649414, 1.7252358198165894], "instance_token": "70e43414d6735c2c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "67": {"instance_id": 67, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "71": {"instance_id": 71, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "69": {"instance_id": 69, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "72": {"instance_id": 72, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000030.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ba4602681730a93fa32c8aaa6607e6c5de3df52
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000030.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000031.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..a548ef7e92240d03b0cbcd9a56fbffd0b7f2c5a7
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 734, "y1": 557, "x2": 850, "y2": 643, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 827, "y1": 535, "x2": 866, "y2": 547, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 824, "y1": 545, "x2": 888, "y2": 597, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 888, "y1": 536, "x2": 936, "y2": 573, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.31250412296504, 8.840052665327676, 0.533072807615099], "size": [1.883304476737976, 4.309080600738525, 1.7631926536560059], "instance_token": "db82ac7ea6195f7f"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 977, "y1": 530, "x2": 1015, "y2": 544, "logit": 0.0, "location": [69.80715591087937, -0.49211296485736966, 0.7767103063451941], "size": [1.964742660522461, 4.8568291664123535, 1.9491702318191528], "instance_token": "fcd3b13e8c765f02"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.73248845152557, 39.442943467758596, -1.433306371269282], "size": [1.916597843170166, 4.6701765060424805, 1.6688644886016846], "instance_token": "8e2ab1587f07568b"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.621929339598864, -19.05825010710396, 1.2506003387170495], "size": [1.8415415287017822, 4.441568851470947, 1.575901746749878], "instance_token": "425c417f0f4a5716"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 516, "y1": 539, "x2": 609, "y2": 599, "logit": 0.0, "location": [59.343334562610835, 10.858817704604007, 0.05296367108257982], "size": [2.14076828956604, 4.798884868621826, 1.8908629417419434], "instance_token": "482007882ceb5b11"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 652, "y1": 538, "x2": 704, "y2": 579, "logit": 0.0, "location": [76.68990469817072, 10.996079911128618, 0.02645411032699485], "size": [1.8522166013717651, 4.435129165649414, 1.7252358198165894], "instance_token": "70e43414d6735c2c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"76": {"instance_id": 76, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "73": {"instance_id": 73, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "69": {"instance_id": 69, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "74": {"instance_id": 74, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "67": {"instance_id": 67, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "75": {"instance_id": 75, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67368"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000032.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..85ccdd6878f46fc2dc8597b80961602f313cf940
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 735, "y1": 549, "x2": 854, "y2": 634, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 842, "y1": 526, "x2": 875, "y2": 537, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 831, "y1": 537, "x2": 895, "y2": 589, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 896, "y1": 527, "x2": 944, "y2": 565, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.31250412296504, 8.840052665327676, 0.533072807615099], "size": [1.883304476737976, 4.309080600738525, 1.7631926536560059], "instance_token": "db82ac7ea6195f7f"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 989, "y1": 523, "x2": 1017, "y2": 534, "logit": 0.0, "location": [69.80715591087937, -0.49211296485736966, 0.7767103063451941], "size": [1.964742660522461, 4.8568291664123535, 1.9491702318191528], "instance_token": "fcd3b13e8c765f02"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.621929339598864, -19.05825010710396, 1.2506003387170495], "size": [1.8415415287017822, 4.441568851470947, 1.575901746749878], "instance_token": "425c417f0f4a5716"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 458, "y1": 527, "x2": 567, "y2": 598, "logit": 0.0, "location": [59.343334562610835, 10.858817704604007, 0.05296367108257982], "size": [2.14076828956604, 4.798884868621826, 1.8908629417419434], "instance_token": "482007882ceb5b11"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 623, "y1": 527, "x2": 681, "y2": 573, "logit": 0.0, "location": [76.68990469817072, 10.996079911128618, 0.02645411032699485], "size": [1.8522166013717651, 4.435129165649414, 1.7252358198165894], "instance_token": "70e43414d6735c2c"}, "25": {"instance_id": 25, "class_name": "vehicle", "x1": 116, "y1": 531, "x2": 239, "y2": 594, "logit": 0.0, "location": [43.60899100312963, 20.975325809558854, 0.2268011372689216], "size": [2.014319896697998, 4.887118339538574, 1.8387700319290161], "instance_token": "cde6a56c66fb5ca5"}, "26": {"instance_id": 26, "class_name": "vehicle", "x1": 663, "y1": 527, "x2": 718, "y2": 572, "logit": 0.0, "location": [64.99750414397568, 11.153265992645174, 0.2115380914292473], "size": [1.9143532514572144, 4.703329086303711, 1.6182951927185059], "instance_token": "256497f948e05a3c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"76": {"instance_id": 76, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "73": {"instance_id": 73, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "74": {"instance_id": 74, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "77": {"instance_id": 77, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "69": {"instance_id": 69, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "78": {"instance_id": 78, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67545"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000033.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..c283daccbd64996acf2bbf6c6404f9013204e51c
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000033.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000034.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec4a44cf96fdeafb423b4e56ed1c0e29fb7649b
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 729, "y1": 535, "x2": 851, "y2": 622, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 846, "y1": 511, "x2": 882, "y2": 523, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 832, "y1": 524, "x2": 904, "y2": 576, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 0.34523391781840473], "size": [1.9808963537216187, 4.626585960388184, 1.6981322765350342], "instance_token": "051d31c491b65e14"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 905, "y1": 512, "x2": 947, "y2": 548, "logit": 0.0, "location": [48.06270194333047, 2.9712984900688753, 0.46426011055882555], "size": [1.9836229085922241, 4.585036277770996, 1.9157202243804932], "instance_token": "fae1b75489195336"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.28976660128683, 9.774310976848938, 0.2779556767345639], "size": [1.9984955787658691, 4.681426525115967, 1.8092925548553467], "instance_token": "34fe843eb6bf5113"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [64.05761739239097, 18.169034328428097, 0.26695843968263944], "size": [2.181610345840454, 5.701041221618652, 2.371474266052246], "instance_token": "dda9624ff75f542f"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.31250412296504, 8.840052665327676, 0.533072807615099], "size": [1.883304476737976, 4.309080600738525, 1.7631926536560059], "instance_token": "db82ac7ea6195f7f"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 1004, "y1": 509, "x2": 1035, "y2": 526, "logit": 0.0, "location": [69.80715591087937, -0.49211296485736966, 0.7767103063451941], "size": [1.964742660522461, 4.8568291664123535, 1.9491702318191528], "instance_token": "fcd3b13e8c765f02"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.621929339598864, -19.05825010710396, 1.2506003387170495], "size": [1.8415415287017822, 4.441568851470947, 1.575901746749878], "instance_token": "425c417f0f4a5716"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 258, "y1": 519, "x2": 420, "y2": 617, "logit": 0.0, "location": [59.343334562610835, 10.858817704604007, 0.05296367108257982], "size": [2.14076828956604, 4.798884868621826, 1.8908629417419434], "instance_token": "482007882ceb5b11"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 536, "y1": 517, "x2": 609, "y2": 573, "logit": 0.0, "location": [76.68990469817072, 10.996079911128618, 0.02645411032699485], "size": [1.8522166013717651, 4.435129165649414, 1.7252358198165894], "instance_token": "70e43414d6735c2c"}, "25": {"instance_id": 25, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [43.60899100312963, 20.975325809558854, 0.2268011372689216], "size": [2.014319896697998, 4.887118339538574, 1.8387700319290161], "instance_token": "cde6a56c66fb5ca5"}, "26": {"instance_id": 26, "class_name": "vehicle", "x1": 604, "y1": 514, "x2": 656, "y2": 573, "logit": 0.0, "location": [64.99750414397568, 11.153265992645174, 0.2115380914292473], "size": [1.9143532514572144, 4.703329086303711, 1.6182951927185059], "instance_token": "256497f948e05a3c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"80": {"instance_id": 80, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "73": {"instance_id": 73, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "78": {"instance_id": 78, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "76": {"instance_id": 76, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "81": {"instance_id": 81, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "79": {"instance_id": 79, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63157"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000035.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..38aba09dda0aca06d4b3c31c5261c532b21157f5
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 724, "y1": 533, "x2": 849, "y2": 620, "logit": 0.0, "location": [11.551229032222182, 2.920294387033209, 0.3842525436375581], "size": [1.8754603862762451, 4.558779239654541, 1.5232776403427124], "instance_token": "92167ad6788352ce"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 850, "y1": 510, "x2": 885, "y2": 522, "logit": 0.0, "location": [36.32224211329594, 6.338935137260705, 0.3607511083209829], "size": [1.9135314226150513, 4.582662105560303, 1.764541745185852], "instance_token": "1df8458e87765b7a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 832, "y1": 522, "x2": 902, "y2": 577, "logit": 0.0, "location": [27.386378396768123, 3.3810894486960024, 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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000036.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d41c5a67d45f58e6b92e9550aaf9c08e125a97
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000036.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000037.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3e51e61b79ed17f8ff25cc4b6fb532e8581079
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000037.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000038.json b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..6af6a22ae0d69e1a2ea70faf4be7217e16af3698
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/json_data/mask_000038.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/mask_data/mask_000000.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/mask_data/mask_000000.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/mask_data/mask_000002.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/mask_data/mask_000002.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/mask_data/mask_000003.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/mask_data/mask_000003.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/prompt.txt
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@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [3.78, 3.59, 3.99, 4.88]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.92, -1.07, -1.72, -0.82
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2ae6762bb03d000134b4f1e9d110149d30f085d0
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000006/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and follow traffic signals.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the left lane, black color
+    - Potential Effects: May slow down or change lanes.
+    - Future Behavior: Likely to maintain its lane.
+  - Object 2: Vehicle in the left lane, white color
+    - Potential Effects: May slow down or change lanes.
+    - Future Behavior: Likely to maintain its lane.
+  - Object 3: Vehicle in the center lane, black color
+    - Potential Effects: Directly ahead, may affect speed.
+    - Future Behavior: Likely to maintain its lane.
+  - Object 4: Vehicle in the center lane, white color
+    - Potential Effects: Directly ahead, may affect speed.
+    - Future Behavior: Likely to maintain its lane.
+  - Object 5: Vehicle in the right lane, yellow color
+    - Potential Effects: May slow down or change lanes.
+    - Future Behavior: Likely to maintain its lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane changes are possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the lane is clear ahead. Maintaining speed is appropriate.
+- **Driving Plan:** Continue moving forward in the current lane, keeping an eye on vehicles 3 and 4.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the center lane, and the plan to move forward is consistent with the current traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [4.88, 5.78, 6.63, 7.35]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.82, -1.06, -1.03, -1.1
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..50c711ae3f4a680436f77464d0a47e1c3263d68d
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain speed within limits, and obey traffic signals.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, black color
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+  - Object 2: Vehicle in the left lane, white color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to maintain current speed.
+  - Object 3: Vehicle in the right lane, white color
+    - Potential Effects: May merge into our lane.
+    - Future Behavior: Likely to maintain current speed.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, with dashed lines allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and vehicles in adjacent lanes are maintaining their speed. No immediate need for lane changes or speed adjustments.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 1, 2, and 3 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The behavior and speed are consistent with the current traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/prompt.txt
new file mode 100644
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+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.35, 7.4, 8.01, 8.78]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.1, -1.02, -0.96, -0.99
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eb863633f34e46ba948cf2cffe2fa46aa92383fc
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000018/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, red color
+    - Potential Effects: May slow down or stop, affecting speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle in the adjacent lane, green color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 5: Vehicle in the adjacent lane, yellow color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 13: Vehicle parked on the right, blue color
+    - Potential Effects: None, as it is stationary.
+    - Future Behavior: Remain stationary.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events requiring a change in speed or direction.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane discipline. Monitor vehicles 1, 2, and 5 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0e5603601b2aa18eefef68607ef6c32fcff7ed72
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc1074bbef8b55b4258b80ec35b5e94f5773c3cd14c11bf4cc2ae4c5487a6204
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d963dbdaffbe3e8d5c72ffa736d68072a29cb723
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57db6120f547e1f962af230e1ed7bd896f8086e8cd0775482faceb93009270e3
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2410f3a2b0596a19593dbcca0cf192d7f957edbe
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.78, 8.9, 9.17, 8.92]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.99, -1.19, -1.29, -1.16
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a92d9815cc47e5c30430f66c2dc223277f000690
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, red color
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle in the adjacent lane, green color
+    - Potential Effects: May change lanes or maintain its path.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 5: Vehicle in the adjacent lane, yellow color
+    - Potential Effects: May change lanes or maintain its path.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events requiring a change in behavior or speed.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane discipline. Monitor objects 1, 2, and 5 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a8c5d334c50e8784461b3c41b8c0a30173f5207a
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd8264891bdea71d863ecb1037874bf2afe824323ec1b320aaaf60ae1555c3c4
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b19bca0436ac3ec7cf8832f97c64e63670a6affe
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65bd8346316d24eeb8985e183b68988836400874d0f9ec49556ae8f4cc9b734c
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fbc36443224535dbd6303b06994169dece879c52
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.92, 8.64, 8.75, 9.66]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.16, -1.24, -1.3, -1.17
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dcc5ba133ccb6f92bf89e09e6a156d54bd612429
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000030/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and obey speed limits.
+
+- **Notable Objects:**
+  - Object (ID 14): Blue vehicle in the left lane.
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+  - Object (ID 23): Red vehicle in the center lane.
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+  - Object (ID 1): Green vehicle in the right lane.
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+  - Object (ID 22): Red vehicle in the rightmost lane.
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Identify your current lane number: Center lane.
+    - Confirm whether the lanes on both sides are in the same direction as yours and check the lane lines: Yes, lanes are in the same direction; lane change possible if needed.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is red, so the ego car must wait. Once it turns green, the car can move forward at a constant speed.
+- **Driving Plan:** Proceed straight when the light turns green, maintaining lane discipline. Monitor objects ID 14, 23, 1, and 22.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1aa369fdd451e9eb8bd839206e69d99c1c0af401
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f4c4e00a5104484358ae85477645cf5fac50c6fed13403d7a368f8da6078af
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ab38359b2266f65965ce51abdc71218194cfe180
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6edee03a034269bbbf027714c08b545824dc439435871b1882dd8da854c3cbe1
+size 267
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..660740219e2a2b2ad20c9baec29afb996384ae30
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.66, 11.19, 11.22, 10.96]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.17, -1.09, -1.25, -1.27
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/response.txt b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..aa643353c9bacba12ae6f64985de3ae24f5597ea
--- /dev/null
+++ b/nuplan-2021.05.12.22.00.38_veh-35_01008_01518_scene_9/result/output_000036/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Yellow
+  - Notable Events: None
+  - Traffic rules: In this city, yellow lights allow vehicles to pass with caution. Maintain awareness of surrounding vehicles and prepare to stop if necessary.
+
+- **Notable Objects:**
+  - Object 23: Vehicle, left lane, white
+    - Potential Effects: May slow down or stop due to the yellow light.
+    - Future Behavior: Likely to decelerate or stop.
+  - Object 24: Vehicle, center lane, red
+    - Potential Effects: May proceed through the intersection.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 1: Vehicle, right lane, black
+    - Potential Effects: May proceed or stop depending on the traffic light.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle, right lane, blue
+    - Potential Effects: May proceed through the intersection.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed as the traffic light was yellow, allowing cautious passage.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction, with dashed lines indicating permissible lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is yellow, and vehicles in front are likely to continue moving. Maintain a constant speed to safely pass through the intersection.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring objects 23, 24, 1, and 2 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the center lane, and the plan to move forward is consistent with the current traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000000.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb1ec41e6b4dc0978e1906945eddc1fe57561008
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 463, "x2": 895, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 872, "y1": 457, "x2": 925, "y2": 500, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 879, "y1": 456, "x2": 928, "y2": 497, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 344, "y1": 489, "x2": 492, "y2": 544, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 554, "y1": 469, "x2": 658, "y2": 529, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000001.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9211b405ec9a829aa8bd8e6229f1acd023988a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000001.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000002.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..914a28bb3d67b17343324d9be71592d95cfc4ffc
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 457, "x2": 927, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 879, "y1": 457, "x2": 928, "y2": 500, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 332, "y1": 488, "x2": 479, "y2": 544, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 529, "y1": 470, "x2": 638, "y2": 533, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000003.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6264064a73c75fab52c309240ea44dea5d045d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 510, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 457, "x2": 927, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 879, "y1": 457, "x2": 928, "y2": 499, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 316, "y1": 488, "x2": 464, "y2": 545, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 517, "y1": 470, "x2": 630, "y2": 535, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000004.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..48dabddf1c28d9ee6d11a60ba67fa3a75c699ea7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 457, "x2": 928, "y2": 500, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 879, "y1": 456, "x2": 929, "y2": 498, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 286, "y1": 490, "x2": 438, "y2": 546, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 509, "y1": 472, "x2": 623, "y2": 535, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 739, "y1": 470, "x2": 793, "y2": 500, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000005.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eeba9f836ee883f22c53f052a2f1cb3523fd72d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 457, "x2": 926, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 880, "y1": 457, "x2": 929, "y2": 500, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 242, "y1": 490, "x2": 401, "y2": 547, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 499, "y1": 473, "x2": 616, "y2": 536, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 727, "y1": 471, "x2": 780, "y2": 501, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000006.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d05a0f38f0a60a84144edb3c3de73103e5fa3ca
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 878, "y1": 457, "x2": 929, "y2": 500, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 173, "y1": 490, "x2": 340, "y2": 550, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 488, "y1": 474, "x2": 610, "y2": 537, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 714, "y1": 472, "x2": 768, "y2": 503, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000007.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d933e08a597a1155f8d4a1761babb2aded40fe1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 878, "y1": 457, "x2": 929, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 89, "y1": 489, "x2": 255, "y2": 549, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 475, "y1": 474, "x2": 601, "y2": 539, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 701, "y1": 472, "x2": 758, "y2": 504, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000008.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..c237d6618036b1a086ce033ea04eb4d7fec29258
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 259, "y1": 525, "x2": 621, "y2": 933, "logit": 0.0, "location": [8.105749246897176, 2.436498718801886, 0.6007032042180072], "size": [0.9403570212875736, 1.9648507962913484, 1.8155112685343304], "instance_token": "caba021e75295365"}}}, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 464, "x2": 892, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 879, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 880, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 490, "x2": 148, "y2": 550, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 452, "y1": 476, "x2": 583, "y2": 539, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 687, "y1": 473, "x2": 745, "y2": 507, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000009.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e889d26273a0dc94124fcacb5ecffb70e73961
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 528, "x2": 197, "y2": 899, "logit": 0.0, "location": [8.105749246897176, 2.436498718801886, 0.6007032042180072], "size": [0.9403570212875736, 1.9648507962913484, 1.8155112685343304], "instance_token": "caba021e75295365"}}}, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 464, "x2": 894, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 878, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 879, "y1": 457, "x2": 929, "y2": 500, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 492, "x2": 43, "y2": 549, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 414, "y1": 476, "x2": 559, "y2": 541, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 671, "y1": 474, "x2": 731, "y2": 510, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000010.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..efe16ee241c521277a8dcb542223569a965ac933
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [8.105749246897176, 2.436498718801886, 0.6007032042180072], "size": [0.9403570212875736, 1.9648507962913484, 1.8155112685343304], "instance_token": "caba021e75295365"}}}, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 458, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 878, "y1": 457, "x2": 929, "y2": 500, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 364, "y1": 476, "x2": 521, "y2": 542, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 656, "y1": 475, "x2": 721, "y2": 512, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000011.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e2c5a2350b9afddd7ac81c48d199a19b22ae398
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [8.105749246897176, 2.436498718801886, 0.6007032042180072], "size": [0.9403570212875736, 1.9648507962913484, 1.8155112685343304], "instance_token": "caba021e75295365"}}}, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 878, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 878, "y1": 457, "x2": 929, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.252583099063486, 14.084633266553283, 1.6060460363441962], "size": [1.850055456161499, 4.4390058517456055, 1.5057599544525146], "instance_token": "b08f40e26bac5626"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 301, "y1": 475, "x2": 469, "y2": 543, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 641, "y1": 476, "x2": 707, "y2": 515, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000012.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e1c8b61a2099497217d039638b5f7a170c03b4c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 880, "y1": 458, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 880, "y1": 456, "x2": 929, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 229, "y1": 476, "x2": 398, "y2": 543, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 626, "y1": 477, "x2": 696, "y2": 517, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000013.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..efc9344ee6160031702dab95c7747c3a9d2e7cc2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 880, "y1": 458, "x2": 928, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 880, "y1": 457, "x2": 928, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 144, "y1": 476, "x2": 315, "y2": 544, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 611, "y1": 479, "x2": 685, "y2": 521, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000014.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f811ff50170800f0e9f4a30a3a352a0f1c7335f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 458, "x2": 929, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 60, "y1": 475, "x2": 227, "y2": 546, "logit": 0.0, "location": [50.83861526148394, 11.413451944477856, 2.1612467108425335], "size": [2.073206901550293, 5.03341007232666, 1.977522850036621], "instance_token": "b1a9333870b15fdf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 596, "y1": 480, "x2": 671, "y2": 524, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000015.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..3255615525dbfa39cad8340acd035968fd1fc62a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000015.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000016.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..c51949af24c0be4bed9ab88a006d2e42a1dcf7f8
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 458, "x2": 928, "y2": 500, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 557, "y1": 485, "x2": 644, "y2": 531, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 730, "y1": 469, "x2": 783, "y2": 501, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000017.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dff151b79cdf40c43762d364ddce62de05c400a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 880, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 530, "y1": 486, "x2": 629, "y2": 535, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 716, "y1": 470, "x2": 771, "y2": 503, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000018.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a86eee8a65be0f0e888fb491f94534cec0be4e3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000018.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000019.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..ded5767b05827a07b5e6de6d0dda4925ca25f5dc
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 510, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 458, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 448, "y1": 491, "x2": 581, "y2": 541, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 682, "y1": 473, "x2": 740, "y2": 508, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000020.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..098477b036b040012fa8eb3dafdc1ace8cbc1920
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 458, "x2": 929, "y2": 501, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 501, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 403, "y1": 491, "x2": 546, "y2": 541, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 664, "y1": 473, "x2": 725, "y2": 511, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000021.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..24bf6e84ac78b1310bc8376e2da776451fef4bae
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 465, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 351, "y1": 493, "x2": 508, "y2": 541, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 644, "y1": 475, "x2": 708, "y2": 515, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000022.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a69382c9e4b0da8fe2f33220b5d0552fc33b0d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 465, "x2": 893, "y2": 510, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 300, "y1": 492, "x2": 457, "y2": 542, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 622, "y1": 478, "x2": 692, "y2": 519, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000023.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6f884b7032835ec92444a5236197052c7105120
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 465, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 239, "y1": 493, "x2": 399, "y2": 544, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 599, "y1": 480, "x2": 676, "y2": 523, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000024.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..706399c59bb6f5cd7db7d56b412aa429d74c42c9
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 456, "x2": 928, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 172, "y1": 494, "x2": 327, "y2": 543, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 573, "y1": 482, "x2": 658, "y2": 527, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 60, "y1": 481, "x2": 280, "y2": 540, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000025.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..392f40a7a9ce1fc897d60f5fc515df515923fa54
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 892, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 100, "y1": 492, "x2": 256, "y2": 543, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 533, "y1": 483, "x2": 634, "y2": 532, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 78, "y1": 482, "x2": 289, "y2": 538, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000026.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..42da051dfc69a7f4403fe6438e9c7df9085f93a5
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 503, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 503, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 32, "y1": 493, "x2": 178, "y2": 544, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 476, "y1": 488, "x2": 594, "y2": 538, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 156, "y1": 482, "x2": 290, "y2": 542, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000027.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..0679eb7428f9fdc8de117e52da17a463a66b7e08
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 495, "x2": 105, "y2": 544, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 406, "y1": 491, "x2": 542, "y2": 540, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 88, "y1": 478, "x2": 289, "y2": 541, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000028.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..0124a893cef19b8d176599b8749a0a2519b89676
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 891, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 928, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 501, "x2": 36, "y2": 541, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 321, "y1": 492, "x2": 467, "y2": 541, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 60, "y1": 483, "x2": 290, "y2": 541, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000029.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..b50746fe701c6938c2a309c90f547631a6fde484
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 219, "y1": 492, "x2": 370, "y2": 544, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 63, "y1": 482, "x2": 276, "y2": 541, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000030.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc62fd6ca7463a3bb33441905eba1463bc1809f8
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 458, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 458, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 103, "y1": 491, "x2": 258, "y2": 545, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 47, "y1": 483, "x2": 289, "y2": 540, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000031.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..46073b4c414fc0fede1c8cc49ac82eacf000675a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [76.8076697262004, 9.356730234343559, 3.0671132030984154], "size": [1.927242636680603, 4.8404951095581055, 1.6702873706817627], "instance_token": "c4118066992f5524"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 492, "x2": 138, "y2": 547, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 130, "y1": 482, "x2": 289, "y2": 542, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000032.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fec8d6bff726baa33447e25edc7ba0e4f842f7c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 464, "x2": 892, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 506, "x2": 15, "y2": 542, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 62, "y1": 482, "x2": 288, "y2": 542, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000033.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..621620315f16c7c3c0cbacd3b4c81ac77a030d07
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 881, "y1": 457, "x2": 929, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 62, "y1": 481, "x2": 276, "y2": 541, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000034.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..1187a3fcfbba2861f5d34e73b4f0b5c6839f246c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 833, "y1": 464, "x2": 893, "y2": 509, "logit": 0.0, "location": [61.30967633635737, 3.7002443689852953, 2.820085753359308], "size": [2.0872445106506348, 4.82896089553833, 1.9540009498596191], "instance_token": "80e1492a38425748"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 930, "y2": 502, "logit": 0.0, "location": [69.05431742314249, 3.2965154671110213, 3.297901506703056], "size": [2.0825157165527344, 5.091597080230713, 1.998712182044983], "instance_token": "afac67044a225396"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 882, "y1": 457, "x2": 930, "y2": 502, "logit": 0.0, "location": [77.79062511911616, 2.660704718437046, 3.790098333309288], "size": [1.9869508743286133, 5.01695442199707, 1.9994224309921265], "instance_token": "6b091ab7e8455977"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [75.32561611337587, 9.62937593460083, 3.207556725581526], "size": [1.9174139499664307, 4.830593109130859, 1.6496775150299072], "instance_token": "370dda4db7885d0f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 54, "y1": 480, "x2": 289, "y2": 539, "logit": 0.0, "location": [41.74986275238916, 20.218303593806922, 1.492115756147541], "size": [1.9303621053695679, 4.893389701843262, 1.5674986839294434], "instance_token": "c4118066992f5524"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63369"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000035.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..0888bca54289e4c5312264c2569949316adf0abb
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+size 107683
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:554a7da3d70a758d8247af01c870b5df2ca141fcbd5c373ab8403b77953a181d
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/gt_fut_traj_mask.pkl
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7bc8ee925f92c7b0229a74826bb640fbf0861e6f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -83.95, -79.01, -60.17, -116.95
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b94243ae470bf9319348908aa11845fbeef1bc5c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000006/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, wait for green to proceed.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, red, in the left lane, stopped at the light.
+    - Potential Effects: Blocking the lane; must wait for it to move.
+    - Future Behavior: Likely to move forward when the light turns green.
+  - Object 4: Vehicle, yellow, in the right lane, stopped at the light.
+    - Potential Effects: Blocking the lane; must wait for it to move.
+    - Future Behavior: Likely to move forward when the light turns green.
+  - Object 5: Vehicle, light green, in the right lane, stopped at the light.
+    - Potential Effects: Blocking the lane; must wait for it to move.
+    - Future Behavior: Likely to move forward when the light turns green.
+  - Object 6: Vehicle, green, in the left lane, stopped at the light.
+    - Potential Effects: Blocking the lane; must wait for it to move.
+    - Future Behavior: Likely to move forward when the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Identify your current lane number: Center lane.
+    - Confirm whether the lanes on both sides are in the same direction as yours and check the lane lines: Yes, lanes are in the same direction; lane change possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green.
+- **Driving Plan:** Maintain current position until the light changes. Relevant objects: 1, 4, 5, 6.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:9e6c8950b8361c7abb694aa2dd52557930cffeb50888e18ecb52c247a7d2c2cc
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32d6f921955e4c33883f1eeb88721b9bab8bc20f0ba453c29b1e30563514401f
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..722a961b29bd06b5bdf4a6965abe08cc43d27095
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -116.95, -75.69, -101.96, -60.26
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a96f70e50abd54d7d4ce1731ffee23fe1fcd33b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, obey lane markings, and maintain speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red car) in the left lane.
+    - Potential Effects: Blocking the path if turning left.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 5: Vehicle (yellow car) in the middle lane.
+    - Potential Effects: May proceed straight when the light turns green.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 6: Vehicle (green car) in the right lane.
+    - Potential Effects: May proceed straight or turn right when the light turns green.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane change possible if needed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires the ego car to remain stopped.
+- **Driving Plan:** Maintain position until the light changes. Monitor objects 1, 5, and 6 for movement.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/gt_fut_traj.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81ece6b30c0d08e022245e4eb7e04e15671d51d835abd23b52258fa17f2dbbb
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6cb5306b5cc1697d5e3ab07b54a8fd68dc8ea6aae69e819737fba9e03aab42
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea4711823ceab9c21b2b7e17c0dfead37da56bc0
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -60.26, -40.07, -91.52, -74.85
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a116518a1220279162906e75e7e2d85fd30dc945
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; wait for green to proceed.
+
+- **Notable Objects:**
+  - Object 6: Vehicle, in the left lane, green color
+    - Potential Effects: Blocking the left lane
+    - Future Behavior: Likely to remain stopped until the light turns green
+  - Object 7: Vehicle, in the center lane, red color
+    - Potential Effects: Blocking the center lane
+    - Future Behavior: Likely to remain stopped until the light turns green
+  - Object 1: Vehicle, in the right lane, red color
+    - Potential Effects: Blocking the right lane
+    - Future Behavior: Likely to remain stopped until the light turns green
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Identify your current lane number: Center lane
+    - Confirm whether the lanes on both sides are in the same direction as yours and check the lane lines: Yes, lanes are in the same direction; lane change possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green.
+- **Driving Plan:** Maintain current position and wait for the green light. Relevant objects: 6, 7, 1.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is correctly positioned to stop due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3bdfb7e1be05cdb588af35a55d70c3649b37fb56
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cae740ea070222005f2f22f5820f6df284e36c5ad87487f96249ea942819b4c
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..032a16a4708c04a412d12d83838acf6235cfa76e
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:117c5bc31d1a323f4cf37032eb173985cb2065ca0f9eed9d52e9099c11a68fa8
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd456f3f18dbd7c6cc7e1ebd7d1411d6877417db
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -74.85, -70.06, 169.35, -21.18
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cbde3e06cf5a267649a1104d4067c9c5fbda7e28
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000024/response.txt
@@ -0,0 +1,48 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no crossing until green.
+
+- **Notable Objects:**
+  - Object (ID 6): Vehicle, left lane, green
+    - Potential Effects: None, as the vehicle is stationary.
+    - Future Behavior: Likely to remain stationary until the light changes.
+  - Object (ID 7): Vehicle, middle lane, yellow
+    - Potential Effects: None, as the vehicle is stationary.
+    - Future Behavior: Likely to remain stationary until the light changes.
+  - Object (ID 1): Vehicle, right lane, red
+    - Potential Effects: None, as the vehicle is stationary.
+    - Future Behavior: Likely to remain stationary until the light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Identify your current lane number: Middle lane
+    - Confirm whether the lanes on both sides are in the same direction as yours and check the lane lines: Yes, lanes are in the same direction; lane change possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green.
+- **Driving Plan:** Maintain current position until the light changes. No notable objects impacting the route.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/gt_fut_traj.pkl
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a15d67a8a26f8bfcf69e2761f77a81e9cee2d5849518d041bc7746f94637a04b
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369b3f108f87520c1b80697e79dc50b812952fbdd7376d5a0c50872685725c90
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11af8f7fc09b87a8eee1fca394a92b9db2358798
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -21.18, 3.24, -91.85, -57.41
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42ba06bb39e2c68044d9eda8301cf12e50ba80f7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000030/response.txt
@@ -0,0 +1,51 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no crossing solid lines; obey speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the left lane, stopped at the traffic light.
+    - Potential Effects: Blocking the lane; requires stopping.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object (ID 6): Green vehicle in the right lane, stopped at the traffic light.
+    - Potential Effects: Blocking the lane; requires stopping.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object (ID 7): Vehicle in the right lane, stopped at the traffic light.
+    - Potential Effects: Blocking the lane; requires stopping.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object (ID 8): Vehicle in the right lane, stopped at the traffic light.
+    - Potential Effects: Blocking the lane; requires stopping.
+    - Future Behavior: Remain stopped until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; solid lines present, preventing lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green.
+- **Driving Plan:** Maintain position until the light changes. Relevant objects: IDs 1, 6, 7, 8.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5c5b65e23cbe5d8ec6266a159e1110801404077a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43d3a9ba1b91c4c0c68989bf8311e1e112778ca0bbd17dd42b02c34094d49c62
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c2f9ddc2d8279c5bcbd2b2252d9f3439a6b869a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c3d18fbd97257c63bd2469ce4e374d01e72298d635534f8f5b4897bcef8232
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca46457b1010ef687a58a78468f7eb65ee4b9091
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -57.41, -99.36, -60.06, -112.97
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3141bab260512581ab8abb69e700c622256a327c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_0/result/output_000036/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no crossing intersections during red.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red car, right lane, stopped at the intersection)
+    - Potential Effects: Blocking the path if the light turns green.
+    - Future Behavior: Likely to move forward when the light turns green.
+  - Object 8: Vehicle (silver car, left lane, stopped at the intersection)
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to move forward when the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Identify your current lane number: Middle lane.
+    - Confirm whether the lanes on both sides are in the same direction as yours and check the lane lines: Yes, lanes are in the same direction; solid lines indicate no lane change.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires the ego car to remain stopped.
+- **Driving Plan:** Maintain current position until the light changes. Monitor objects 1 and 8 for movement.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is correctly positioned to stop at the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000000.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0b9f35233300516888aeabaa47016989326c564
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 916, "y1": 540, "x2": 1003, "y2": 607, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 664, "y1": 548, "x2": 813, "y2": 654, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 163, "y1": 555, "x2": 628, "y2": 883, "logit": 0.0, "location": [9.822839504107833, 3.140219924855046, 0.5371959062540554], "size": [1.8976482152938843, 4.381924152374268, 1.7786004543304443], "instance_token": "05759579c57e5d5b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 786, "y1": 531, "x2": 869, "y2": 601, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1194, "y1": 566, "x2": 1438, "y2": 742, "logit": 0.0, "location": [15.084256533067673, -3.215010264888406, 0.40353126265472383], "size": [1.9334696531295776, 4.726013660430908, 1.5560472011566162], "instance_token": "c0bdbf23691d560e"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1126, "y1": 549, "x2": 1273, "y2": 665, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 615, "y1": 526, "x2": 706, "y2": 604, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1051, "y1": 515, "x2": 1123, "y2": 589, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1088, "y1": 540, "x2": 1178, "y2": 617, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 922, "y1": 515, "x2": 979, "y2": 559, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1012, "y1": 523, "x2": 1073, "y2": 576, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 742, "y1": 523, "x2": 806, "y2": 558, "logit": 0.0, "location": [61.83386109909043, 7.140565588546451, 0.5440236375361565], "size": [1.9255685806274414, 4.802785873413086, 2.01466965675354], "instance_token": "24b0303d9e56531c"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 841, "y1": 501, "x2": 901, "y2": 568, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 998, "y1": 526, "x2": 1041, "y2": 567, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000001.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..114ea378e402023c30c1d4edcd64962a892932ce
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 910, "y1": 540, "x2": 1001, "y2": 612, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 636, "y1": 550, "x2": 797, "y2": 664, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 561, "x2": 568, "y2": 954, "logit": 0.0, "location": [9.822839504107833, 3.140219924855046, 0.5371959062540554], "size": [1.8976482152938843, 4.381924152374268, 1.7786004543304443], "instance_token": "05759579c57e5d5b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 773, "y1": 530, "x2": 861, "y2": 605, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1226, "y1": 573, "x2": 1533, "y2": 784, "logit": 0.0, "location": [15.084256533067673, -3.215010264888406, 0.40353126265472383], "size": [1.9334696531295776, 4.726013660430908, 1.5560472011566162], "instance_token": "c0bdbf23691d560e"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1141, "y1": 553, "x2": 1310, "y2": 682, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 582, "y1": 527, "x2": 679, "y2": 613, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1055, "y1": 512, "x2": 1134, "y2": 594, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1096, "y1": 542, "x2": 1195, "y2": 626, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 917, "y1": 514, "x2": 976, "y2": 548, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1015, "y1": 520, "x2": 1083, "y2": 580, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 721, "y1": 525, "x2": 786, "y2": 556, "logit": 0.0, "location": [61.83386109909043, 7.140565588546451, 0.5440236375361565], "size": [1.9255685806274414, 4.802785873413086, 2.01466965675354], "instance_token": "24b0303d9e56531c"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 833, "y1": 500, "x2": 897, "y2": 569, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1006, "y1": 527, "x2": 1045, "y2": 572, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000002.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9dd254f221bc8a7d4ddced03152e4369d7e0627
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000002.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000003.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f216056f5f2d8ec6bbac4c20405fc15fdacaa53
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 891, "y1": 540, "x2": 995, "y2": 621, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 567, "y1": 552, "x2": 759, "y2": 687, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 584, "x2": 382, "y2": 1079, "logit": 0.0, "location": [9.822839504107833, 3.140219924855046, 0.5371959062540554], "size": [1.8976482152938843, 4.381924152374268, 1.7786004543304443], "instance_token": "05759579c57e5d5b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 731, "y1": 529, "x2": 836, "y2": 615, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1333, "y1": 602, "x2": 1884, "y2": 940, "logit": 0.0, "location": [15.084256533067673, -3.215010264888406, 0.40353126265472383], "size": [1.9334696531295776, 4.726013660430908, 1.5560472011566162], "instance_token": "c0bdbf23691d560e"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1181, "y1": 564, "x2": 1436, "y2": 740, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 491, "y1": 526, "x2": 620, "y2": 623, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1060, "y1": 510, "x2": 1153, "y2": 603, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1116, "y1": 546, "x2": 1246, "y2": 651, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 902, "y1": 511, "x2": 970, "y2": 547, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1036, "y1": 517, "x2": 1096, "y2": 587, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 681, "y1": 522, "x2": 762, "y2": 561, "logit": 0.0, "location": [61.83386109909043, 7.140565588546451, 0.5440236375361565], "size": [1.9255685806274414, 4.802785873413086, 2.01466965675354], "instance_token": "24b0303d9e56531c"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 810, "y1": 497, "x2": 880, "y2": 572, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1006, "y1": 525, "x2": 1049, "y2": 577, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000004.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c1864d8b013fdae72cd249157ca5c0eb21d99fb
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 884, "y1": 539, "x2": 995, "y2": 625, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 525, "y1": 553, "x2": 740, "y2": 702, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 695, "x2": 243, "y2": 1068, "logit": 0.0, "location": [9.822839504107833, 3.140219924855046, 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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000005.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..6082419e03869f0c9b8203a1ae91ca20fd526942
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000005.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000006.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdf46cb33b39f8d74d3684ab615ca72f458847b4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000007.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d38c3a01439e4c0d795e10681738cddf067491c7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000007.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000008.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..a350f105a2dd25e7812935505344601ccc6a936d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000008.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000009.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de6ace20aa6e879c9d849192432431f493b0182
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 874, "y1": 556, "x2": 1044, "y2": 690, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 169, "y1": 589, "x2": 622, "y2": 867, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 596, "y1": 538, "x2": 796, "y2": 686, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 85, "y1": 538, "x2": 381, "y2": 741, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1154, "y1": 507, "x2": 1341, "y2": 672, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1327, "y1": 591, "x2": 1775, "y2": 863, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 915, "y1": 510, "x2": 1004, "y2": 557, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1106, "y1": 516, "x2": 1224, "y2": 627, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 576, "y1": 542, "x2": 629, "y2": 588, "logit": 0.0, "location": [61.83386109909043, 7.140565588546451, 0.5440236375361565], "size": [1.9255685806274414, 4.802785873413086, 2.01466965675354], "instance_token": "24b0303d9e56531c"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 794, "y1": 497, "x2": 886, "y2": 593, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1060, "y1": 533, "x2": 1120, "y2": 602, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [15.897250649053603, 6.488083683419973, 0.4153999874906642], "size": [1.8630359172821045, 4.7359819412231445, 1.54332435131073], "instance_token": "1527f7512805512c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000010.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0ab75fc0f0415831fa1e38e50face855eed18b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 874, "y1": 562, "x2": 1066, "y2": 712, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 43, "y1": 601, "x2": 590, "y2": 934, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 564, "y1": 541, "x2": 789, "y2": 707, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 545, "x2": 315, "y2": 769, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1185, "y1": 507, "x2": 1397, "y2": 692, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1410, "y1": 610, "x2": 1919, "y2": 959, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 927, "y1": 511, "x2": 1020, "y2": 563, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1128, "y1": 518, "x2": 1262, "y2": 636, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 557, "y1": 545, "x2": 609, "y2": 590, "logit": 0.0, "location": [61.83386109909043, 7.140565588546451, 0.5440236375361565], "size": [1.9255685806274414, 4.802785873413086, 2.01466965675354], "instance_token": "24b0303d9e56531c"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 796, "y1": 496, "x2": 893, "y2": 598, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1074, "y1": 533, "x2": 1145, "y2": 609, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [15.897250649053603, 6.488083683419973, 0.4153999874906642], "size": [1.8630359172821045, 4.7359819412231445, 1.54332435131073], "instance_token": "1527f7512805512c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000011.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7adbf93f669d14230390b40e8df76122d0181d8
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000011.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000012.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..73cfac8c3dfd968bad1b075ed38312eabc9c69c1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 855, "y1": 572, "x2": 1108, "y2": 771, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 629, "x2": 485, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 461, "y1": 543, "x2": 758, "y2": 756, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 561, "x2": 127, "y2": 632, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1238, "y1": 502, "x2": 1520, "y2": 735, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1651, "y1": 707, "x2": 1919, "y2": 1066, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 927, "y1": 506, "x2": 1040, "y2": 573, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1161, "y1": 516, "x2": 1325, "y2": 656, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 788, "y1": 492, "x2": 896, "y2": 603, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1096, "y1": 532, "x2": 1180, "y2": 620, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000013.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0df5c44dd4f9369481bf84ad736157b4de6df42
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 835, "y1": 578, "x2": 1124, "y2": 806, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 652, "x2": 411, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 400, "y1": 543, "x2": 737, "y2": 783, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 617, "x2": 82, "y2": 651, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1262, "y1": 500, "x2": 1581, "y2": 761, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1814, "y1": 840, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 919, "y1": 506, "x2": 1045, "y2": 580, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1169, "y1": 514, "x2": 1349, "y2": 666, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 782, "y1": 490, "x2": 893, "y2": 604, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1099, "y1": 533, "x2": 1192, "y2": 624, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000014.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..e636cfd4fd7ea18d2dd1839f09b8bb9d57facc76
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000014.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000015.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..b736c85012e43ec12a259eb510c8d1904adc7d9b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 791, "y1": 588, "x2": 1143, "y2": 868, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 758, "x2": 261, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 308, "y1": 545, "x2": 697, "y2": 819, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1284, "y1": 496, "x2": 1666, "y2": 797, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 898, "y1": 503, "x2": 1037, "y2": 588, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1173, "y1": 513, "x2": 1374, "y2": 679, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 756, "y1": 486, "x2": 877, "y2": 607, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1093, "y1": 532, "x2": 1198, "y2": 630, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000016.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebeaf98feb148ae877229fda719fe8d29713c239
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 781, "y1": 591, "x2": 1146, "y2": 881, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 786, "x2": 238, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 307, "y1": 546, "x2": 695, "y2": 820, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1289, "y1": 498, "x2": 1681, "y2": 805, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 505, "x2": 1038, "y2": 593, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1174, "y1": 517, "x2": 1380, "y2": 683, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 751, "y1": 489, "x2": 875, "y2": 610, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1091, "y1": 534, "x2": 1199, "y2": 634, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 101, "y1": 570, "x2": 350, "y2": 738, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 844, "y1": 535, "x2": 904, "y2": 580, "logit": 0.0, "location": [54.60784271871671, 3.0587299104663543, 0.22706853159616003], "size": [1.9155387878417969, 4.598168849945068, 1.5892609357833862], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000017.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0a13aae206cfea705ba9e93b1fbff243cd78325
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000017.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000018.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e214226e66bdda53e42d2e168e83136646520f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 884, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 761, "x2": 262, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 333, "y1": 549, "x2": 701, "y2": 811, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1287, "y1": 501, "x2": 1678, "y2": 808, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 508, "x2": 1039, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1174, "y1": 521, "x2": 1381, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 492, "x2": 874, "y2": 613, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1198, "y2": 636, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 574, "x2": 364, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 860, "y1": 537, "x2": 896, "y2": 591, "logit": 0.0, "location": [54.60784271871671, 3.0587299104663543, 0.22706853159616003], "size": [1.9155387878417969, 4.598168849945068, 1.5892609357833862], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000019.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..c87d74de2303aa06b5be0544c0e8b5f4f22f1117
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 883, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 740, "x2": 281, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 340, "y1": 549, "x2": 703, "y2": 808, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1285, "y1": 502, "x2": 1674, "y2": 807, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 508, "x2": 1039, "y2": 598, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 521, "x2": 1381, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 492, "x2": 875, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 538, "x2": 1199, "y2": 638, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 98, "y1": 574, "x2": 366, "y2": 743, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 859, "y1": 538, "x2": 896, "y2": 592, "logit": 0.0, "location": [54.60784271871671, 3.0587299104663543, 0.22706853159616003], "size": [1.9155387878417969, 4.598168849945068, 1.5892609357833862], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000020.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..a49166e0fbb142181ef4adf31c54152728ff52f7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000020.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000021.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa344e951e243ad8ce0960ace8e8d5a2ef90412
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 884, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 548, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1284, "y1": 501, "x2": 1672, "y2": 805, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 508, "x2": 1039, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 522, "x2": 1381, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 492, "x2": 874, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1198, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 574, "x2": 367, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000022.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c81d8699d915b245e05b4ad61b85e4ef1a1af9a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 883, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 708, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 703, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1284, "y1": 502, "x2": 1672, "y2": 805, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 508, "x2": 1038, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 521, "x2": 1381, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 751, "y1": 493, "x2": 874, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 574, "x2": 367, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000023.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..e234b295b94959ee654d0e0679e1516fb9b4b296
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000023.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000024.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..5da1d659de72487b411b17a001cf1b863309e223
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 781, "y1": 596, "x2": 1148, "y2": 883, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 308, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 703, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1284, "y1": 502, "x2": 1671, "y2": 805, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 897, "y1": 509, "x2": 1037, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1176, "y1": 522, "x2": 1380, "y2": 687, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 492, "x2": 875, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1091, "y1": 537, "x2": 1198, "y2": 636, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 366, "y2": 741, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 860, "y1": 521, "x2": 906, "y2": 575, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000025.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..04fd09740ee322d93fc589b0c71bde61fa0c8679
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 883, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1284, "y1": 502, "x2": 1672, "y2": 804, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 508, "x2": 1037, "y2": 596, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 522, "x2": 1381, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 493, "x2": 875, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1093, "y1": 537, "x2": 1198, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 366, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 859, "y1": 521, "x2": 905, "y2": 578, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000026.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afafedca455eff870fac31a6d28e221b366f3a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000026.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000027.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcb444d5999f9fe6e4503e53d3110fff4461fb
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 882, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 548, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1282, "y1": 502, "x2": 1666, "y2": 803, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 508, "x2": 1036, "y2": 596, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 522, "x2": 1381, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 493, "x2": 874, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 536, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 367, "y2": 743, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 859, "y1": 521, "x2": 906, "y2": 580, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000028.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..48ed4781f15768e63d093bb89e424107cbb52d8b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 781, "y1": 596, "x2": 1148, "y2": 882, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 308, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 703, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1281, "y1": 502, "x2": 1660, "y2": 801, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 896, "y1": 509, "x2": 1038, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1176, "y1": 522, "x2": 1380, "y2": 687, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 751, "y1": 493, "x2": 875, "y2": 613, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 536, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 366, "y2": 741, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 861, "y1": 522, "x2": 905, "y2": 578, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000029.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..2635cce010406867bb4add3720c605a988d300cf
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000029.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000030.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..bea2d2bbfda07ca3e2e4bb851b323e2844f55bcb
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 881, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1278, "y1": 502, "x2": 1654, "y2": 798, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 508, "x2": 1037, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 522, "x2": 1379, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 751, "y1": 493, "x2": 874, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 366, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 861, "y1": 521, "x2": 906, "y2": 580, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000031.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd66df3c0a27d9266ed66922f2923f5e9a3da097
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1149, "y2": 882, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 310, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1278, "y1": 502, "x2": 1651, "y2": 797, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 508, "x2": 1039, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 522, "x2": 1379, "y2": 687, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 492, "x2": 874, "y2": 613, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 98, "y1": 575, "x2": 366, "y2": 741, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 860, "y1": 522, "x2": 904, "y2": 581, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000032.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..44bcd0dd56ebe1750166c47c1038bd3468881335
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000033.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf5543dd9ec9a6324c553fa1107a96e6521d8c5
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 881, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1276, "y1": 502, "x2": 1646, "y2": 796, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 508, "x2": 1037, "y2": 596, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 521, "x2": 1379, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 492, "x2": 875, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 366, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 860, "y1": 521, "x2": 908, "y2": 581, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000034.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a90e44a7dc4199686de22c0614f5ef15338ff4e
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 881, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 702, "y2": 807, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1276, "y1": 502, "x2": 1646, "y2": 796, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 508, "x2": 1037, "y2": 596, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 522, "x2": 1378, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 751, "y1": 492, "x2": 875, "y2": 614, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 367, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 860, "y1": 522, "x2": 906, "y2": 581, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000035.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..05232b60b1431ee48a11c0636bbacca2aed8439d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000035.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000036.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2cfd5f9ee9b87e45e0ee07ee35d839eb5b8c6b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 880, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 308, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 341, "y1": 549, "x2": 703, "y2": 806, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1275, "y1": 502, "x2": 1645, "y2": 796, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 509, "x2": 1038, "y2": 597, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1176, "y1": 522, "x2": 1378, "y2": 687, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 754, "y1": 493, "x2": 873, "y2": 613, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1199, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 366, "y2": 741, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 861, "y1": 523, "x2": 905, "y2": 580, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000037.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb1af62a5ce1f446265e13fb9fda955b2964393
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000037.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000037.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 596, "x2": 1148, "y2": 880, "logit": 0.0, "location": [34.4588164165616, 0.05457761452998966, 0.3784053010022035], "size": [1.901151180267334, 4.547640323638916, 1.4953089952468872], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 709, "x2": 309, "y2": 1079, "logit": 0.0, "location": [23.567425870336592, 3.1734976191073656, 0.3636665028388961], "size": [1.896061897277832, 4.480560779571533, 1.5432384014129639], "instance_token": "dedbfb75522757c1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 342, "y1": 551, "x2": 702, "y2": 806, "logit": 0.0, "location": [37.28423684369773, 3.092804250016343, 0.5064213146542897], "size": [1.9929697513580322, 4.430784702301025, 1.8323930501937866], "instance_token": "eaad0c1c37535449"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [21.911653303541243, -3.3749101986759342, 0.42418239914331934], "size": [1.9389152526855469, 4.973092079162598, 1.5638552904129028], "instance_token": "b466737ec1e35d09"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [35.52487973216921, 6.664331703155767, 0.5160028854770644], "size": [1.9588680267333984, 4.746219635009766, 1.92918860912323], "instance_token": "e0b948c7fe1d5846"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1276, "y1": 502, "x2": 1646, "y2": 795, "logit": 0.0, "location": [41.64577768556774, -3.354661200835835, 0.6705194336864224], "size": [1.922244668006897, 4.531890869140625, 2.076150894165039], "instance_token": "a856060230da5b48"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.216310988646, -3.5032845301902853, 0.39776228736081976], "size": [1.888398289680481, 4.581286907196045, 1.5305007696151733], "instance_token": "bbce28013ef7579e"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 895, "y1": 508, "x2": 1039, "y2": 598, "logit": 0.0, "location": [49.63048848416656, 0.291300879442133, 0.6380877291812794], "size": [1.953519344329834, 4.349648475646973, 1.9953935146331787], "instance_token": "7706821e48d45f5b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1175, "y1": 521, "x2": 1378, "y2": 688, "logit": 0.0, "location": [55.79286780534312, -2.6877834708429873, 0.49159522038826253], "size": [1.8774148225784302, 4.592424392700195, 1.600651502609253], "instance_token": "1b018cfbfaa853a7"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 754, "y1": 494, "x2": 872, "y2": 612, "logit": 0.0, "location": [64.54907322395593, 3.7665311134187505, 0.9841183280659607], "size": [2.553347110748291, 5.931536674499512, 2.9514591693878174], "instance_token": "7ce84f804ad45785"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1092, "y1": 537, "x2": 1200, "y2": 637, "logit": 0.0, "location": [70.0809554499574, -2.4499494385672733, 0.5747967616080132], "size": [1.9211241006851196, 4.455942153930664, 1.791073203086853], "instance_token": "349d2cb2e09f5b0b"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 99, "y1": 575, "x2": 367, "y2": 742, "logit": 0.0, "location": [15.27427166653797, 6.532094414229505, 0.35543133622195455], "size": [1.8276333808898926, 4.3794732093811035, 1.514311671257019], "instance_token": "f3bbaaa10b395d06"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 862, "y1": 523, "x2": 905, "y2": 578, "logit": 0.0, "location": [54.71019855327904, 3.10747188096866, 0.6496264071465703], "size": [1.8959134817123413, 4.61796760559082, 1.8860223293304443], "instance_token": "0aeaf01014025cc2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "2"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000038.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1158ae90ba2b2b91e956bdf803c570a1897ba5d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/json_data/mask_000038.json
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000006/prompt.txt
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+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [5.65, 5.3, 4.94, 4.47]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.76, -1.1, -1.19, -1.48
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000006/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000006/response.txt
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 13): Red vehicle in the same lane, stopped at the traffic light.
+    - Potential Effects: Requires stopping behind this vehicle.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object (ID 12): White vehicle in the adjacent lane, also stopped.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object (ID 7): Orange vehicle in the left lane, stopped.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A DECELERATION
+  - **Explanation:** The ego car was approaching a red light, necessitating a deceleration to stop safely.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction, with dashed lines allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and stopped vehicles ahead require stopping to comply with traffic rules.
+- **Driving Plan:** Stop behind the red vehicle (ID 13) and wait for the light to turn green.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning, as the red light and stopped vehicles necessitate stopping.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
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index 0000000000000000000000000000000000000000..23ad844795e138c01e0229b2e9ed8bfea9088797
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e48bc92f472e2826f9d68459f6166c45ac8db0827741151c2419b24ec6ef59ae
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2f021578c535d5fcb7c493c621af94b6f1b009d9
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924d319deddbac4a070b4cb27b78e19d5d8d28292ab80c2f38a312929a72636f
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7e39f0df1b57e643c2b0fc03616e6be123b06d94
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [4.47, 4.17, 3.86, 3.25]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.48, -1.08, -0.93, -0.94
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..241ba1395cd9c300f62fcc8591fbe594c4bbc7db
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: Heavy traffic ahead
+  - Traffic rules: Stop at red lights, maintain lane discipline, and avoid overtaking in heavy traffic.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red car, lane 2)
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped due to the red light.
+  - Object 2: Vehicle (yellow taxi, lane 1)
+    - Potential Effects: May block the path if it moves forward.
+    - Future Behavior: Likely to remain stopped due to the red light.
+  - Object 3: Vehicle (white car, lane 3)
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped due to the red light.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear road conditions ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible but not advisable in heavy traffic.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and heavy traffic ahead necessitate stopping.
+- **Driving Plan:** Stop behind Object 1 (red car) due to the red light and traffic conditions.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..24c142817660423173e3f8e1080fdd5f44f6c47b
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e455e230daa5c38294388df878c213e7296d21f291978ca6fbd45313237fcbb2
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..17b0d3e2af9430e1854ff99a51da4a3322d028cf
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca06c5058471406f9eab1a58af1bc3f6a2a752ddb625880765a3da6fc3ff8e5e
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ac032bbce7675ee902a49d76e5aa7c269e9fc89
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [3.25, 1.96, 0.46, 0.01]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.94, -0.94, -2.2, 108.03
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..803a9a8f612b0031f50441ffbd43abe91f03159b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and avoid overtaking in heavy traffic.
+
+- **Notable Objects:**
+  - Object (ID 17): Vehicle, center lane, gray color
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stationary until the light changes.
+  - Object (ID 4): Vehicle, left lane, yellow color
+    - Potential Effects: May attempt to merge or change lanes.
+    - Future Behavior: Likely to remain stationary.
+  - Object (ID 8): Vehicle, right lane, white color
+    - Potential Effects: May block right lane movement.
+    - Future Behavior: Likely to remain stationary.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; solid lines indicate no lane change is allowed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping, and surrounding traffic is stationary.
+- **Driving Plan:** Maintain current position until the light changes. Relevant objects: ID 17.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The behavior and speed are consistent with the current traffic situation.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f27a1997caaa21cf5689b701ff963035129653eb
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80aa57554f342dce0e8e30c7f33a817d7dbeb0b9c73e2fb072ec717c04e4f9ca
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1264db5cabf159854055152cee647d00df8a19f4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30ae19d6ef63532f4ff1bc374c0ecdabbf970d1e1c50dc28692bccc71441ed5b
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..88297ff42afb10bf426f26637b3dd168dd5bdcf4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.01, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): 108.03, -178.49, 167.74, -112.56
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e1f7688a094833b653daf548cc28f91504453a5
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and avoid overtaking in heavy traffic.
+
+- **Notable Objects:**
+  - Object (ID 10): Vehicle, in the same lane, gray color
+    - Potential Effects: Blocking the path; must wait for it to move.
+    - Future Behavior: Likely to remain stationary until the light turns green.
+  - Object (ID 4): Vehicle, in the left lane, yellow color
+    - Potential Effects: May move forward when the light changes.
+    - Future Behavior: Likely to remain stationary until the light turns green.
+  - Object (ID 14): Vehicle, in the right lane, white color
+    - Potential Effects: May move forward when the light changes.
+    - Future Behavior: Likely to remain stationary until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change possible if safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green.
+- **Driving Plan:** Maintain current position and wait for the light to change. Relevant objects: ID 10.
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed align with the current traffic situation and notable objects.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9a920dea5eea19fa5ff6df5fa1b853c1d0028009
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3f953a559e46166abf403c0bdbbdbf69dd4225b67b6def2295b522058a1cecc
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..32b6563b36e28391c7d0541652ea44fa347e4f8b
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f020e6fb6df33433293b377d51e5fdc4aaefa2086a872497b8aaeed4a8677bb8
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df9036934b3e2af78e41b58b4fe2405088b0c4d1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -112.56, -144.49, -107.56, -48.04
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a298f50b6dfefadb46a189454e91f5c183bec097
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; maintain lane discipline; no overtaking on solid lines.
+
+- **Notable Objects:**
+  - Object 10: Vehicle, in the same lane, grey color
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 4: Vehicle, adjacent lane, yellow color
+    - Potential Effects: May merge into the lane if traffic clears.
+    - Future Behavior: Likely to remain in its lane.
+  - Object 13: Vehicle, adjacent lane, blue color
+    - Potential Effects: May merge into the lane if traffic clears.
+    - Future Behavior: Likely to remain in its lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; solid lines present.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping, and vehicles ahead are also stopped.
+- **Driving Plan:** Maintain current position until the light changes. Monitor objects 10, 4, and 13.
+
+*****Reflection:*****
+- **Self-Consistency:** The plan to stop is consistent with the red light and stopped vehicles ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b2145bbf4c2785f652da7dec7929da1d90f887b9
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b0c84aec3c905d73c9ecfdabc67c4ee1d703bef39f3143571bc59cb7d65e8b
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8599dd7ac30f9098c1e8360ea2f7002f98bea564
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3169a4e163bc4e9b77d5be214667448b1f2a9df013d5b5c0c55b4203b393c10d
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f17967e85de4e0405a9a9fa038102ad815a193c1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -48.04, -66.8, -106.47, -83.3
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4100c4e814e634f90086a94c20d938691aac72b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_12/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and avoid overtaking in heavy traffic.
+
+- **Notable Objects:**
+  - Object (ID 10): Vehicle, center lane, gray color
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stationary until the light changes.
+  - Object (ID 8): Vehicle, right lane, white color
+    - Potential Effects: May merge into the center lane.
+    - Future Behavior: Likely to stay in its lane until the light changes.
+  - Object (ID 13): Vehicle, left lane, blue color
+    - Potential Effects: May attempt to merge into the center lane.
+    - Future Behavior: Likely to remain stationary.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light and the presence of vehicles ahead.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible but not advisable due to traffic.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and vehicles ahead necessitate stopping.
+- **Driving Plan:** Maintain position until the light changes. Monitor vehicles ID 10, 8, and 13 for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed align with the current traffic situation and notable objects.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000000.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4abcac1e3ba68072005176d123ae7689b0dc32c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 804, "y1": 574, "x2": 1068, "y2": 785, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 606, "y1": 541, "x2": 798, "y2": 686, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 612, "x2": 501, "y2": 1028, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 809, "y1": 527, "x2": 883, "y2": 592, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1076, "y1": 536, "x2": 1175, "y2": 612, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 992, "y1": 523, "x2": 1093, "y2": 589, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 944, "y1": 514, "x2": 997, "y2": 572, "logit": 0.0, "location": [53.28427436761558, -0.23307965032290667, 0.734797754871579], "size": [1.963752031326294, 4.533016204833984, 2.092012882232666], "instance_token": "d60507acb1e35976"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 870, "y1": 529, "x2": 908, "y2": 566, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 24, "y1": 528, "x2": 298, "y2": 603, "logit": 0.0, "location": [47.936200459487736, 23.134231794974767, 0.4498220360610503], "size": [2.259878158569336, 6.796025276184082, 2.6446266174316406], "instance_token": "3fdfbc5856bc515b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 794, "y1": 518, "x2": 843, "y2": 558, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 879, "y1": 499, "x2": 936, "y2": 557, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 449, "y1": 527, "x2": 530, "y2": 564, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000001.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be91ddd0d525e2b3f5bbfc8759226b21d75e1aa
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 788, "y1": 577, "x2": 1077, "y2": 810, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 598, "y1": 540, "x2": 792, "y2": 688, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 614, "x2": 492, "y2": 1037, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 804, "y1": 526, "x2": 879, "y2": 593, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1077, "y1": 537, "x2": 1179, "y2": 615, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 983, "y1": 524, "x2": 1090, "y2": 590, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 941, "y1": 511, "x2": 995, "y2": 576, "logit": 0.0, "location": [53.28427436761558, -0.23307965032290667, 0.734797754871579], "size": [1.963752031326294, 4.533016204833984, 2.092012882232666], "instance_token": "d60507acb1e35976"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 870, "y1": 529, "x2": 904, "y2": 566, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 534, "x2": 265, "y2": 606, "logit": 0.0, "location": [47.936200459487736, 23.134231794974767, 0.4498220360610503], "size": [2.259878158569336, 6.796025276184082, 2.6446266174316406], "instance_token": "3fdfbc5856bc515b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 789, "y1": 519, "x2": 838, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 875, "y1": 499, "x2": 931, "y2": 558, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 429, "y1": 525, "x2": 507, "y2": 561, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000002.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b054ddfdcf317a5820ac2a8a7a67a139739fcc0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 771, "y1": 581, "x2": 1085, "y2": 837, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 591, "y1": 542, "x2": 786, "y2": 690, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 618, "x2": 481, "y2": 1053, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 800, "y1": 526, "x2": 874, "y2": 594, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1079, "y1": 538, "x2": 1183, "y2": 618, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 963, "y1": 520, "x2": 1087, "y2": 592, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 937, "y1": 513, "x2": 989, "y2": 580, "logit": 0.0, "location": [53.28427436761558, -0.23307965032290667, 0.734797754871579], "size": [1.963752031326294, 4.533016204833984, 2.092012882232666], "instance_token": "d60507acb1e35976"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 866, "y1": 529, "x2": 901, "y2": 567, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 534, "x2": 229, "y2": 611, "logit": 0.0, "location": [47.936200459487736, 23.134231794974767, 0.4498220360610503], "size": [2.259878158569336, 6.796025276184082, 2.6446266174316406], "instance_token": "3fdfbc5856bc515b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 789, "y1": 520, "x2": 851, "y2": 560, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 870, "y1": 499, "x2": 929, "y2": 559, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 379, "y1": 526, "x2": 451, "y2": 550, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000003.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..02eb8ae40f53c9dc29543396bea2ab5101f340c8
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 757, "y1": 586, "x2": 1089, "y2": 854, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 587, "y1": 542, "x2": 781, "y2": 689, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 614, "x2": 477, "y2": 1055, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 795, "y1": 527, "x2": 870, "y2": 594, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1080, "y1": 539, "x2": 1186, "y2": 620, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 951, "y1": 526, "x2": 1084, "y2": 595, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 932, "y1": 516, "x2": 981, "y2": 581, "logit": 0.0, "location": [53.28427436761558, -0.23307965032290667, 0.734797754871579], "size": [1.963752031326294, 4.533016204833984, 2.092012882232666], "instance_token": "d60507acb1e35976"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 861, "y1": 530, "x2": 895, "y2": 569, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 538, "x2": 193, "y2": 600, "logit": 0.0, "location": [47.936200459487736, 23.134231794974767, 0.4498220360610503], "size": [2.259878158569336, 6.796025276184082, 2.6446266174316406], "instance_token": "3fdfbc5856bc515b"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 792, "y1": 525, "x2": 849, "y2": 559, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 865, "y1": 498, "x2": 925, "y2": 560, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 319, "y1": 529, "x2": 402, "y2": 562, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000004.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdf1df8e879677fa0aa76541334f44a943db26b0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 749, "y1": 590, "x2": 1093, "y2": 865, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 586, "y1": 542, "x2": 777, "y2": 687, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 614, "x2": 478, "y2": 1047, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 793, "y1": 528, "x2": 865, "y2": 595, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1081, "y1": 540, "x2": 1188, "y2": 620, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 941, "y1": 526, "x2": 1075, "y2": 595, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 855, "y1": 531, "x2": 893, "y2": 568, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 790, "y1": 527, "x2": 851, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 862, "y1": 498, "x2": 921, "y2": 560, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 263, "y1": 531, "x2": 352, "y2": 561, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000005.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..82dadc1cfc997fe3e239d081e71de6fabac97fdd
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 745, "y1": 592, "x2": 1095, "y2": 874, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 590, "y1": 543, "x2": 776, "y2": 685, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 613, "x2": 475, "y2": 1041, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 791, "y1": 530, "x2": 865, "y2": 595, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1085, "y1": 541, "x2": 1189, "y2": 623, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 932, "y1": 526, "x2": 1075, "y2": 598, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 854, "y1": 530, "x2": 891, "y2": 570, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 790, "y1": 529, "x2": 851, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 860, "y1": 501, "x2": 919, "y2": 562, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 184, "y1": 535, "x2": 297, "y2": 569, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000006.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6579f995de77892776ba172f0fdb47d0f2fea88
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 743, "y1": 594, "x2": 1097, "y2": 877, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 593, "y1": 544, "x2": 775, "y2": 684, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 613, "x2": 472, "y2": 1036, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 789, "y1": 529, "x2": 863, "y2": 597, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1086, "y1": 542, "x2": 1190, "y2": 624, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 929, "y1": 528, "x2": 1076, "y2": 601, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 851, "y1": 531, "x2": 889, "y2": 572, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 788, "y1": 528, "x2": 850, "y2": 555, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 858, "y1": 503, "x2": 916, "y2": 563, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 101, "y1": 535, "x2": 273, "y2": 579, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000007.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..88de4058fb2f5dc995e36665ffc5e6aa3e74ac89
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 746, "y1": 593, "x2": 1098, "y2": 877, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 599, "y1": 544, "x2": 778, "y2": 680, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 611, "x2": 474, "y2": 1027, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 788, "y1": 529, "x2": 863, "y2": 597, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1089, "y1": 543, "x2": 1191, "y2": 624, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 927, "y1": 527, "x2": 1077, "y2": 603, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 851, "y1": 533, "x2": 888, "y2": 572, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 787, "y1": 529, "x2": 850, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 856, "y1": 503, "x2": 918, "y2": 564, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 540, "x2": 78, "y2": 622, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000008.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..b678534e45e15af2f9f9cba9e647c136455a22e1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 751, "y1": 592, "x2": 1098, "y2": 869, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 604, "y1": 544, "x2": 775, "y2": 678, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 608, "x2": 480, "y2": 1011, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 788, "y1": 529, "x2": 861, "y2": 596, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1091, "y1": 543, "x2": 1192, "y2": 623, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 924, "y1": 529, "x2": 1075, "y2": 603, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 852, "y1": 532, "x2": 888, "y2": 572, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 786, "y1": 529, "x2": 846, "y2": 552, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 854, "y1": 502, "x2": 920, "y2": 564, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 544, "x2": 144, "y2": 610, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 509, "y1": 527, "x2": 632, "y2": 630, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 447, "y1": 539, "x2": 516, "y2": 590, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 121, "y1": 532, "x2": 263, "y2": 599, "logit": 0.0, "location": [48.59874621964991, 23.61489793448709, -0.3211639891796949], "size": [1.9199179410934448, 4.823517322540283, 1.5636001825332642], "instance_token": "61177bbdd9be56b1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000009.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce76cb4b22a5463c0b857a632f8ec29ef2943d33
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 754, "y1": 591, "x2": 1094, "y2": 863, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 602, "y1": 544, "x2": 776, "y2": 676, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 604, "x2": 490, "y2": 998, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 783, "y1": 529, "x2": 861, "y2": 596, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1091, "y1": 542, "x2": 1192, "y2": 622, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 922, "y1": 529, "x2": 1071, "y2": 606, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 849, "y1": 532, "x2": 886, "y2": 574, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 784, "y1": 530, "x2": 846, "y2": 554, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 851, "y1": 498, "x2": 916, "y2": 565, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 23, "y1": 561, "x2": 96, "y2": 609, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 490, "y1": 527, "x2": 625, "y2": 633, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 481, "y1": 546, "x2": 499, "y2": 586, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 98, "y1": 531, "x2": 260, "y2": 600, "logit": 0.0, "location": [48.59874621964991, 23.61489793448709, -0.3211639891796949], "size": [1.9199179410934448, 4.823517322540283, 1.5636001825332642], "instance_token": "61177bbdd9be56b1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000010.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..185097a13d1d84685e3303a20b570dabf5a1d691
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000010.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000011.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..186ff2fe664315489b4e56618fe01955385818c8
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 761, "y1": 590, "x2": 1087, "y2": 848, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 603, "y1": 546, "x2": 776, "y2": 675, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 601, "x2": 510, "y2": 966, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 777, "y1": 529, "x2": 854, "y2": 601, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1082, "y1": 545, "x2": 1181, "y2": 617, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 918, "y1": 530, "x2": 1071, "y2": 612, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 845, "y1": 534, "x2": 881, "y2": 576, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 777, "y1": 530, "x2": 841, "y2": 555, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 848, "y1": 503, "x2": 917, "y2": 568, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [65.55982273677364, 19.75171360594686, 0.38311477349725465], "size": [1.9405293464660645, 4.998834609985352, 1.7093524932861328], "instance_token": "1a4b7557b0f6519e"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 457, "y1": 527, "x2": 619, "y2": 642, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 100, "y1": 528, "x2": 188, "y2": 558, "logit": 0.0, "location": [48.59874621964991, 23.61489793448709, -0.3211639891796949], "size": [1.9199179410934448, 4.823517322540283, 1.5636001825332642], "instance_token": "61177bbdd9be56b1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000012.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb430964ce3c1e676e1bc4a309b6d0f613b43b06
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 764, "y1": 589, "x2": 1085, "y2": 842, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 601, "y1": 544, "x2": 775, "y2": 673, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 596, "x2": 523, "y2": 947, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 773, "y1": 529, "x2": 850, "y2": 601, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1073, "y1": 544, "x2": 1173, "y2": 613, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 916, "y1": 529, "x2": 1071, "y2": 611, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 840, "y1": 533, "x2": 880, "y2": 575, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 773, "y1": 530, "x2": 838, "y2": 555, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 847, "y1": 501, "x2": 915, "y2": 568, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 439, "y1": 527, "x2": 605, "y2": 644, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000013.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ace1c9965be108348d28fa5a9dedec59f3ab548
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 765, "y1": 586, "x2": 1083, "y2": 838, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 601, "y1": 543, "x2": 776, "y2": 672, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 593, "x2": 535, "y2": 930, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 767, "y1": 528, "x2": 849, "y2": 602, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1074, "y1": 543, "x2": 1163, "y2": 610, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 915, "y1": 529, "x2": 1072, "y2": 614, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 838, "y1": 533, "x2": 878, "y2": 575, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 765, "y1": 530, "x2": 834, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 846, "y1": 500, "x2": 911, "y2": 568, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 419, "y1": 526, "x2": 603, "y2": 648, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000014.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..541261350fb18e27a0a26bcd211e755ab6f0ff8d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 767, "y1": 585, "x2": 1080, "y2": 832, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 596, "y1": 541, "x2": 774, "y2": 672, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 589, "x2": 548, "y2": 914, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 762, "y1": 527, "x2": 847, "y2": 603, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1073, "y1": 541, "x2": 1154, "y2": 607, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 914, "y1": 528, "x2": 1074, "y2": 615, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 835, "y1": 531, "x2": 878, "y2": 575, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 761, "y1": 529, "x2": 833, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 845, "y1": 499, "x2": 911, "y2": 566, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 401, "y1": 526, "x2": 592, "y2": 651, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000015.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff1d2a778774fedb25d4a484c55bed23c36abc82
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 770, "y1": 583, "x2": 1076, "y2": 826, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 589, "y1": 542, "x2": 772, "y2": 675, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 26, "y1": 588, "x2": 563, "y2": 894, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 755, "y1": 527, "x2": 844, "y2": 606, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1075, "y1": 540, "x2": 1148, "y2": 605, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 913, "y1": 528, "x2": 1075, "y2": 618, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 833, "y1": 531, "x2": 877, "y2": 575, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 754, "y1": 529, "x2": 831, "y2": 556, "logit": 0.0, "location": [65.75785150658339, 6.053584413952194, 0.8279139310461687], "size": [1.9545953273773193, 4.874128341674805, 1.8832790851593018], "instance_token": "c21f9f1c91165184"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 844, "y1": 498, "x2": 911, "y2": 566, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 381, "y1": 526, "x2": 578, "y2": 644, "logit": 0.0, "location": [28.270708303898573, 6.612726941588335, 0.5955754092392453], "size": [2.025411605834961, 4.836641311645508, 1.971044898033142], "instance_token": "e0b948c7fe1d5846"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.114037855062634, 12.886939578107558, 0.2736491446157743], "size": [1.8847880363464355, 4.818056583404541, 1.544891119003296], "instance_token": "b1f3005d65515ae9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000016.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..510d4cbe011400610019ef626a82d6a663d96acf
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 772, "y1": 584, "x2": 1071, "y2": 819, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 578, "y1": 545, "x2": 765, "y2": 682, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 71, "y1": 589, "x2": 576, "y2": 876, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 751, "y1": 529, "x2": 840, "y2": 610, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1074, "y1": 543, "x2": 1145, "y2": 606, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 912, "y1": 529, "x2": 1079, "y2": 622, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 830, "y1": 532, "x2": 875, "y2": 578, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 842, "y1": 501, "x2": 913, "y2": 568, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000017.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3bd4bd1331d1a8d1c6010ad1337b7009af902f7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 775, "y1": 584, "x2": 1066, "y2": 814, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 565, "y1": 548, "x2": 759, "y2": 689, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 100, "y1": 587, "x2": 587, "y2": 867, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 746, "y1": 529, "x2": 837, "y2": 614, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1074, "y1": 543, "x2": 1141, "y2": 607, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 911, "y1": 531, "x2": 1081, "y2": 625, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 825, "y1": 534, "x2": 873, "y2": 580, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 841, "y1": 502, "x2": 911, "y2": 569, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000018.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b3a952a2f1268de7a8bb58c2c5d5d68b9eddf88
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 778, "y1": 583, "x2": 1063, "y2": 813, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 549, "y1": 549, "x2": 752, "y2": 696, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 103, "y1": 587, "x2": 587, "y2": 865, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 741, "y1": 530, "x2": 834, "y2": 615, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1073, "y1": 544, "x2": 1141, "y2": 609, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 911, "y1": 532, "x2": 1083, "y2": 628, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 822, "y1": 535, "x2": 872, "y2": 581, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 843, "y1": 503, "x2": 912, "y2": 570, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000019.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..d468b7c2801cd5fc9f87bd7b5ac4cbd6982f583d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 779, "y1": 583, "x2": 1059, "y2": 806, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 533, "y1": 552, "x2": 744, "y2": 704, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 82, "y1": 587, "x2": 579, "y2": 875, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 733, "y1": 531, "x2": 832, "y2": 622, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1073, "y1": 541, "x2": 1142, "y2": 610, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 910, "y1": 531, "x2": 1085, "y2": 631, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 819, "y1": 535, "x2": 871, "y2": 582, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 844, "y1": 503, "x2": 911, "y2": 569, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000020.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..aef8a3ef044c9c88e66d876c04c77b36fd281afe
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 781, "y1": 583, "x2": 1055, "y2": 803, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 514, "y1": 553, "x2": 735, "y2": 712, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 34, "y1": 591, "x2": 563, "y2": 893, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 729, "y1": 532, "x2": 830, "y2": 622, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1076, "y1": 542, "x2": 1143, "y2": 610, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 912, "y1": 532, "x2": 1088, "y2": 635, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 818, "y1": 536, "x2": 873, "y2": 582, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 846, "y1": 504, "x2": 912, "y2": 568, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 190, "y1": 535, "x2": 409, "y2": 632, "logit": 0.0, "location": [32.06894642719999, 12.84232979931403, 0.25929925777927565], "size": [1.8782837390899658, 4.797267436981201, 1.636496901512146], "instance_token": "1bb3283840e85e0a"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 698, "y1": 519, "x2": 756, "y2": 548, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 615, "y1": 516, "x2": 690, "y2": 556, "logit": 0.0, "location": [50.97911273315549, 9.985334089025855, 0.8218042260414222], "size": [1.8932185789688907, 4.492151380391722, 1.828483078039726], "instance_token": "075773021a2055a6"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 102, "y1": 542, "x2": 220, "y2": 602, "logit": 0.0, "location": [46.57551837898791, 23.578188287327066, -0.2286722331027704], "size": [1.8825730085372925, 4.661586284637451, 1.6344298124313354], "instance_token": "6014125a454353ce"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1088, "y1": 527, "x2": 1161, "y2": 564, "logit": 0.0, "location": [70.0590731757693, -7.122971097822301, 0.542274226398149], "size": [1.9423233270645142, 4.847509384155273, 1.7214840650558472], "instance_token": "0cd7e0aa1fdb5e13"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000021.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..4db5e3911ba7133a7717d84b19a1411c9fa69b1e
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000021.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000022.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..5553fa69e1fe91fb313df0a8b578bb26d6c7e01d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 782, "y1": 582, "x2": 1051, "y2": 795, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 466, "y1": 555, "x2": 718, "y2": 729, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 602, "x2": 517, "y2": 953, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 717, "y1": 532, "x2": 823, "y2": 625, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1084, "y1": 546, "x2": 1146, "y2": 612, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 911, "y1": 533, "x2": 1094, "y2": 641, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 816, "y1": 535, "x2": 875, "y2": 580, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 850, "y1": 504, "x2": 907, "y2": 565, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 104, "y1": 537, "x2": 363, "y2": 646, "logit": 0.0, "location": [32.06894642719999, 12.84232979931403, 0.25929925777927565], "size": [1.8782837390899658, 4.797267436981201, 1.636496901512146], "instance_token": "1bb3283840e85e0a"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 694, "y1": 521, "x2": 754, "y2": 551, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 608, "y1": 517, "x2": 698, "y2": 556, "logit": 0.0, "location": [50.97911273315549, 9.985334089025855, 0.8218042260414222], "size": [1.8932185789688907, 4.492151380391722, 1.828483078039726], "instance_token": "075773021a2055a6"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 48, "y1": 542, "x2": 158, "y2": 589, "logit": 0.0, "location": [46.57551837898791, 23.578188287327066, -0.2286722331027704], "size": [1.8825730085372925, 4.661586284637451, 1.6344298124313354], "instance_token": "6014125a454353ce"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1091, "y1": 525, "x2": 1164, "y2": 563, "logit": 0.0, "location": [70.0590731757693, -7.122971097822301, 0.542274226398149], "size": [1.9423233270645142, 4.847509384155273, 1.7214840650558472], "instance_token": "0cd7e0aa1fdb5e13"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000023.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..d201a6975f3f575283279e0da4b804b1bff75920
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 785, "y1": 581, "x2": 1053, "y2": 794, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 445, "y1": 557, "x2": 711, "y2": 740, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 607, "x2": 497, "y2": 989, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 714, "y1": 532, "x2": 826, "y2": 625, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1087, "y1": 543, "x2": 1151, "y2": 612, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 910, "y1": 533, "x2": 1102, "y2": 643, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 824, "y1": 534, "x2": 881, "y2": 578, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 857, "y1": 504, "x2": 911, "y2": 563, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 40, "y1": 538, "x2": 339, "y2": 651, "logit": 0.0, "location": [32.06894642719999, 12.84232979931403, 0.25929925777927565], "size": [1.8782837390899658, 4.797267436981201, 1.636496901512146], "instance_token": "1bb3283840e85e0a"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 696, "y1": 521, "x2": 756, "y2": 549, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 606, "y1": 517, "x2": 700, "y2": 556, "logit": 0.0, "location": [50.97911273315549, 9.985334089025855, 0.8218042260414222], "size": [1.8932185789688907, 4.492151380391722, 1.828483078039726], "instance_token": "075773021a2055a6"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 24, "y1": 543, "x2": 148, "y2": 600, "logit": 0.0, "location": [46.57551837898791, 23.578188287327066, -0.2286722331027704], "size": [1.8825730085372925, 4.661586284637451, 1.6344298124313354], "instance_token": "6014125a454353ce"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1102, "y1": 525, "x2": 1169, "y2": 557, "logit": 0.0, "location": [70.0590731757693, -7.122971097822301, 0.542274226398149], "size": [1.9423233270645142, 4.847509384155273, 1.7214840650558472], "instance_token": "0cd7e0aa1fdb5e13"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000024.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a2cb23890121b28a041728ff56ae1a069cbb5d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000024.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000025.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bebe66b6bd7f6dfbb7b487b8ff08d06cb2a1090
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 795, "y1": 579, "x2": 1066, "y2": 796, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 404, "y1": 556, "x2": 705, "y2": 760, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 619, "x2": 436, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 722, "y1": 530, "x2": 836, "y2": 623, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1107, "y1": 541, "x2": 1165, "y2": 609, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 930, "y1": 530, "x2": 1123, "y2": 647, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 848, "y1": 530, "x2": 901, "y2": 569, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 876, "y1": 500, "x2": 925, "y2": 556, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 713, "y1": 517, "x2": 773, "y2": 548, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1124, "y1": 532, "x2": 1188, "y2": 560, "logit": 0.0, "location": [70.0590731757693, -7.122971097822301, 0.542274226398149], "size": [1.9423233270645142, 4.847509384155273, 1.7214840650558472], "instance_token": "0cd7e0aa1fdb5e13"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1526, "y1": 593, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000026.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..7004214b6e3d4f661ce6f62bf568c160034ad5c7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 795, "y1": 580, "x2": 1070, "y2": 798, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 379, "y1": 557, "x2": 700, "y2": 772, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 630, "x2": 395, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 731, "y1": 529, "x2": 845, "y2": 622, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1117, "y1": 539, "x2": 1164, "y2": 606, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 932, "y1": 529, "x2": 1131, "y2": 650, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 857, "y1": 529, "x2": 908, "y2": 567, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 885, "y1": 500, "x2": 931, "y2": 552, "logit": 0.0, "location": [75.41642035357654, 2.6578565216623247, 1.2680233865148693], "size": [2.6045374870300293, 7.232848167419434, 3.2374377250671387], "instance_token": "e12f14627a5654ec"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 721, "y1": 517, "x2": 781, "y2": 552, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1147, "y1": 532, "x2": 1199, "y2": 561, "logit": 0.0, "location": [70.0590731757693, -7.122971097822301, 0.542274226398149], "size": [1.9423233270645142, 4.847509384155273, 1.7214840650558472], "instance_token": "0cd7e0aa1fdb5e13"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1387, "y1": 606, "x2": 1919, "y2": 948, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000027.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..d84555ab985df4af2f0b6f8f208f5b885fff56a8
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000027.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000028.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..df41c6d4264697eee69b66197e2dc1ea4e9e5f70
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 794, "y1": 583, "x2": 1085, "y2": 812, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 346, "y1": 562, "x2": 693, "y2": 791, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 697, "x2": 291, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 754, "y1": 529, "x2": 860, "y2": 610, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1124, "y1": 538, "x2": 1160, "y2": 599, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 940, "y1": 531, "x2": 1142, "y2": 657, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 875, "y1": 527, "x2": 918, "y2": 561, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 740, "y1": 518, "x2": 791, "y2": 551, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1271, "y1": 578, "x2": 1614, "y2": 791, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 31, "y1": 532, "x2": 374, "y2": 752, "logit": 0.0, "location": [14.198600735049695, 6.42588581412565, 0.5646696408148273], "size": [2.0041568279266357, 4.841076850891113, 1.903224229812622], "instance_token": "e0b948c7fe1d5846"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 604, "y1": 515, "x2": 678, "y2": 554, "logit": 0.0, "location": [45.85807623108849, 9.069848504499532, 0.8531227851599397], "size": [1.9623301029205322, 4.658662796020508, 1.9888970851898193], "instance_token": "075773021a2055a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000029.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..15318ac5c83dac453f044f8798c0fa191610fff3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 792, "y1": 580, "x2": 1091, "y2": 816, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 352, "y1": 557, "x2": 698, "y2": 786, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 756, "x2": 234, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 771, "y1": 525, "x2": 873, "y2": 601, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1120, "y1": 533, "x2": 1156, "y2": 590, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 943, "y1": 527, "x2": 1142, "y2": 656, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 882, "y1": 522, "x2": 924, "y2": 554, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 750, "y1": 514, "x2": 804, "y2": 555, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1251, "y1": 565, "x2": 1533, "y2": 747, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 13, "y1": 532, "x2": 381, "y2": 755, "logit": 0.0, "location": [14.198600735049695, 6.42588581412565, 0.5646696408148273], "size": [2.0041568279266357, 4.841076850891113, 1.903224229812622], "instance_token": "e0b948c7fe1d5846"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 603, "y1": 512, "x2": 677, "y2": 556, "logit": 0.0, "location": [45.85807623108849, 9.069848504499532, 0.8531227851599397], "size": [1.9623301029205322, 4.658662796020508, 1.9888970851898193], "instance_token": "075773021a2055a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000030.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd69afaf834568283ffd80894114f10153ef6f40
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000030.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000031.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b285750e66a4d06e6122d593aa9c6bca64e3bbc
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 790, "y1": 585, "x2": 1103, "y2": 834, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 414, "y1": 555, "x2": 730, "y2": 765, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 807, "x2": 154, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 804, "y1": 524, "x2": 894, "y2": 594, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1090, "y1": 532, "x2": 1148, "y2": 584, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 935, "y1": 529, "x2": 1112, "y2": 655, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 897, "y1": 522, "x2": 935, "y2": 552, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 773, "y1": 515, "x2": 825, "y2": 557, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1212, "y1": 558, "x2": 1428, "y2": 701, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 75, "y1": 532, "x2": 428, "y2": 741, "logit": 0.0, "location": [14.198600735049695, 6.42588581412565, 0.5646696408148273], "size": [2.0041568279266357, 4.841076850891113, 1.903224229812622], "instance_token": "e0b948c7fe1d5846"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 594, "y1": 513, "x2": 684, "y2": 558, "logit": 0.0, "location": [45.85807623108849, 9.069848504499532, 0.8531227851599397], "size": [1.9623301029205322, 4.658662796020508, 1.9888970851898193], "instance_token": "075773021a2055a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000032.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e79c572f9e9b0efc40a4663e3e68bcf451db71
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 791, "y1": 586, "x2": 1108, "y2": 838, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 473, "y1": 549, "x2": 755, "y2": 742, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 802, "x2": 170, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 819, "y1": 523, "x2": 905, "y2": 587, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1088, "y1": 531, "x2": 1146, "y2": 579, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 931, "y1": 528, "x2": 1090, "y2": 627, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 903, "y1": 521, "x2": 940, "y2": 548, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 784, "y1": 514, "x2": 833, "y2": 548, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1192, "y1": 553, "x2": 1385, "y2": 679, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 151, "y1": 530, "x2": 474, "y2": 720, "logit": 0.0, "location": [14.198600735049695, 6.42588581412565, 0.5646696408148273], "size": [2.0041568279266357, 4.841076850891113, 1.903224229812622], "instance_token": "e0b948c7fe1d5846"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 710, "y1": 541, "x2": 831, "y2": 638, "logit": 0.0, "location": [24.982499175705016, 2.9302708206232637, 0.4431647911114851], "size": [1.8375071287155151, 4.43170690536499, 1.4902094602584839], "instance_token": "dedbfb75522757c1"}, "25": {"instance_id": 25, "class_name": "vehicle", "x1": 1170, "y1": 512, "x2": 1242, "y2": 543, "logit": 0.0, "location": [64.27498833322898, -9.816644140169956, 1.075845285799005], "size": [1.9608782529830933, 4.648460388183594, 1.8376272916793823], "instance_token": "e82ac1589e7e593c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000033.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..be9fcb9c2f04801388743bd3ab921e8a6b14e113
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000033.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000034.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..ace31650d52ebf1ce224f91002b816439d460bc3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 803, "y1": 584, "x2": 1106, "y2": 826, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 596, "y1": 544, "x2": 800, "y2": 695, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 704, "x2": 308, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 847, "y1": 524, "x2": 918, "y2": 583, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1098, "y1": 530, "x2": 1157, "y2": 575, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 941, "y1": 530, "x2": 1068, "y2": 614, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 918, "y1": 522, "x2": 952, "y2": 549, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 797, "y1": 514, "x2": 854, "y2": 544, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1153, "y1": 552, "x2": 1304, "y2": 653, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 318, "y1": 526, "x2": 569, "y2": 682, "logit": 0.0, "location": [14.198600735049695, 6.42588581412565, 0.5646696408148273], "size": [2.0041568279266357, 4.841076850891113, 1.903224229812622], "instance_token": "e0b948c7fe1d5846"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 770, "y1": 539, "x2": 864, "y2": 619, "logit": 0.0, "location": [24.982499175705016, 2.9302708206232637, 0.4431647911114851], "size": [1.8375071287155151, 4.43170690536499, 1.4902094602584839], "instance_token": "dedbfb75522757c1"}, "25": {"instance_id": 25, "class_name": "vehicle", "x1": 1271, "y1": 518, "x2": 1311, "y2": 547, "logit": 0.0, "location": [64.27498833322898, -9.816644140169956, 1.075845285799005], "size": [1.9608782529830933, 4.648460388183594, 1.8376272916793823], "instance_token": "e82ac1589e7e593c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000035.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..775d2cf17741df12ab1a04cb36caa5344844dc9d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 820, "y1": 580, "x2": 1101, "y2": 805, "logit": 0.0, "location": [13.227411532774568, 0.1278200369561091, 0.41565352476936823], "size": [1.8917973041534424, 4.578500270843506, 1.5044581890106201], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 650, "y1": 540, "x2": 825, "y2": 672, "logit": 0.0, "location": [19.42283688718453, 2.9131192539352924, 0.5565348528471077], "size": [1.8719784021377563, 4.439343452453613, 1.7387893199920654], "instance_token": "05759579c57e5d5b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 660, "x2": 381, "y2": 1079, "logit": 0.0, "location": [7.7667608871124685, 3.4104595612734556, 0.44961092008543346], "size": [1.9181022644042969, 4.81102180480957, 1.605416178703308], "instance_token": "f9ce38ffb9c05e0e"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 863, "y1": 523, "x2": 929, "y2": 578, "logit": 0.0, "location": [40.96414462570101, 2.996471865219064, 0.579302382788228], "size": [1.9220622777938843, 4.386874675750732, 1.864193081855774], "instance_token": "eaad0c1c37535449"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1118, "y1": 527, "x2": 1179, "y2": 571, "logit": 0.0, "location": [34.739148057065904, -3.541780723608099, 0.5124007366703154], "size": [1.9766862392425537, 4.5049214363098145, 1.6710505485534668], "instance_token": "1b018cfbfaa853a7"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 945, "y1": 528, "x2": 1062, "y2": 606, "logit": 0.0, "location": [43.993393450044096, -2.118233679095283, 0.6083683792458032], "size": [2.0775392055511475, 4.855732440948486, 1.9188694953918457], "instance_token": "2fcb8ac45c785093"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 925, "y1": 522, "x2": 955, "y2": 547, "logit": 0.0, "location": [63.24544710526243, 3.031468134257011, 0.5572011232352452], "size": [1.8553096055984497, 4.382735729217529, 1.5991184711456299], "instance_token": "86cda4aa958e52d4"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 812, "y1": 515, "x2": 863, "y2": 537, "logit": 0.0, "location": [46.51597385434434, 6.749926739605144, 0.6771666560671292], "size": [2.007660388946533, 4.943081855773926, 1.9874742031097412], "instance_token": "c21f9f1c91165184"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1140, "y1": 545, "x2": 1274, "y2": 635, "logit": 0.0, "location": [4.416308320127428, -3.394764675409533, 0.4512710733797576], "size": [1.8817161321640015, 4.764704704284668, 1.5143195390701294], "instance_token": "6dcd9b31513e5257"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 392, "y1": 524, "x2": 613, "y2": 665, "logit": 0.0, "location": [14.198600735049695, 6.42588581412565, 0.5646696408148273], "size": [2.0041568279266357, 4.841076850891113, 1.903224229812622], "instance_token": "e0b948c7fe1d5846"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 797, "y1": 536, "x2": 880, "y2": 609, "logit": 0.0, "location": [24.982499175705016, 2.9302708206232637, 0.4431647911114851], "size": [1.8375071287155151, 4.43170690536499, 1.4902094602584839], "instance_token": "dedbfb75522757c1"}, "25": {"instance_id": 25, "class_name": "vehicle", "x1": 1300, "y1": 518, "x2": 1347, "y2": 543, "logit": 0.0, "location": [64.27498833322898, -9.816644140169956, 1.075845285799005], "size": [1.9608782529830933, 4.648460388183594, 1.8376272916793823], "instance_token": "e82ac1589e7e593c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "8"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000036.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3c02c9e65233713f6d778e46276eacc761732c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000036.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000037.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5a7e85c98d63cec93521774da181b6dbc3c26a
--- /dev/null
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000038.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/json_data/mask_000038.json
new file mode 100644
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000006/prompt.txt
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@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [3.74, 3.16, 2.36, 1.92]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.89, -1.28, -1.32, -1.88
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000006/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4dcceb90eb83ba0ea07c679da2d3a5b27f69636c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000006/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, center lane, gray
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped until the light changes.
+  - Object (ID 3): Vehicle, left lane, orange
+    - Potential Effects: May block lane change to the left.
+    - Future Behavior: Likely to remain stopped.
+  - Object (ID 5): Vehicle, right lane, yellow
+    - Potential Effects: May block lane change to the right.
+    - Future Behavior: Likely to remain stopped.
+  - Object (ID 11): Vehicle, center lane, white
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped until the light changes.
+  - Object (ID 12): Vehicle, left lane, blue
+    - Potential Effects: May block lane change to the left.
+    - Future Behavior: Likely to remain stopped.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light and vehicles ahead.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible but blocked by vehicles.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light and vehicles ahead necessitate stopping.
+- **Driving Plan:** Maintain position and wait for the light to change. Relevant objects: ID 1, ID 11.
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed are consistent with the scene understanding and notable objects.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [1.92, 1.76, 1.71, 1.68]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.88, -0.07, -2.14, -0.2
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000012/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3016fdf435795f4307cb567518b98712487e5f94
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000012/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, follow speed limits, and be prepared for potential stops due to traffic congestion.
+
+- **Notable Objects:**
+  - Object (ID: 1): Vehicle, center lane, grey
+    - Potential Effects: May slow down or stop due to traffic.
+    - Future Behavior: Likely to maintain lane and speed or slow down.
+  - Object (ID: 2): Vehicle, center lane, red
+    - Potential Effects: May slow down or stop due to traffic.
+    - Future Behavior: Likely to maintain lane and speed or slow down.
+  - Object (ID: 4): Vehicle, center lane, white
+    - Potential Effects: May slow down or stop due to traffic.
+    - Future Behavior: Likely to maintain lane and speed or slow down.
+  - Object (ID: 6): Vehicle, right lane, green
+    - Potential Effects: May merge into the center lane.
+    - Future Behavior: Likely to maintain lane or merge left.
+  - Object (ID: 11): Vehicle, left lane, orange
+    - Potential Effects: May merge into the center lane.
+    - Future Behavior: Likely to maintain lane or merge right.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to moderate traffic conditions.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction, with dashed lines indicating possible lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A DECELERATION
+- **Explanation:** Due to traffic congestion ahead, a deceleration is necessary to maintain a safe distance from the vehicles in front (IDs: 1, 2, 4).
+- **Driving Plan:** Continue moving forward with a deceleration to adjust to the traffic flow and maintain safety.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The plan to decelerate is consistent with the traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A DECELERATION
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "5.0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/prompt.txt
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [1.68, 1.58, 1.33, 1.34]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.2, -1.95, -2.06, -1.39
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/response.txt
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index 0000000000000000000000000000000000000000..c38fa24162afa18ddbf9b6637ff7748626167515
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and follow traffic signals.
+
+- **Notable Objects:**
+  - Object (ID 11): Vehicle in the same lane, gray color
+    - Potential Effects: May slow down traffic if it decelerates.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 4): Vehicle in the adjacent left lane, white color
+    - Potential Effects: May attempt to change lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 5): Vehicle in the adjacent right lane, green color
+    - Potential Effects: May attempt to change lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and vehicles ahead are moving forward, allowing for a steady pace.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 11, 4, and 5 for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/gt_fut_traj.pkl
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c62c4528d7a6c9efc6f4bf74db9107681dd257ef9f8de85a68fc148b6ac04e
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6968e57d798b61e74c8d064192e267e395e0b61
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [1.34, 1.3, 1.32, 1.35]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.39, 0.27, -2.52, -2.03
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..abae5ff7dd0392243bc9e513bc02ad51a8136055
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain safe distance from vehicles, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 11): Vehicle, center lane, gray color
+    - Potential Effects: May slow down traffic; maintain safe distance.
+    - Future Behavior: Likely to continue moving forward at a steady pace.
+  - Object (ID 6): Vehicle, right lane, white color
+    - Potential Effects: May merge into the center lane; be cautious.
+    - Future Behavior: Possible lane change to the left.
+  - Object (ID 18): Vehicle, left lane, black color
+    - Potential Effects: May obstruct view; maintain awareness.
+    - Future Behavior: Likely to continue in the current lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady pace due to moderate traffic and clear lane markings.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic is moderate, and the lane is clear ahead. Maintaining a constant speed is appropriate.
+- **Driving Plan:** Continue moving forward while monitoring vehicles ID 11 and ID 6 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d2def9178bf45b62119c506668a4d3fa868f679d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:156eb006f52aec8a6e8b8e8cbb6f09419463597a7bbc3d0369b23566bb1226e1
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0e45cddddeadeddf204e45db8faee8d8dd9afe88
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcdbec7756358d704d4ee9a7d41c4ac1504c7f4e545e765dcd2b9742bc6d8697
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ddeb1a7f509e92a01acadc74307537b8d7a1166
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [1.35, 1.37, 1.36, 1.39]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -2.03, -0.11, -2.15, -0.44
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d8e763b3116d74801b536489661910a52d39f05f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 6): Vehicle in the same lane, gray color
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to maintain current speed or slow down.
+  - Object (ID 5): Vehicle in the left lane, yellow color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to maintain current speed or change lanes.
+  - Object (ID 21): Vehicle in the right lane, black color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to maintain current speed or change lanes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the lane ahead is clear, allowing for continued movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles ID 6, 5, and 21 for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the middle lane with clear conditions to move forward.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d35a26501a2388a262920007e542d7bd3cff68f0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf6f05341cffccb0e4074c82576b2a8ed29277a0c4348f3fb5c22bd29160affa
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7ff6005110bc030d7e5ec1a7463b2446f4fc68f7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48aa1b23947669136190d89a1e29753eea67aac96514dfa6749963c5ceeb1ee5
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be797467e8a7a22baa4acbe53c6b29d4444c9066
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [1.39, 1.39, 1.44, 1.98]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.44, -2.32, -0.07, -0.53
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f2c4748a01e90669bb56b04808eeb19891c015a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_15/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 6: Vehicle in the same lane, silver color
+    - Potential Effects: May slow down traffic if it decelerates.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 5: Vehicle in the adjacent left lane, orange color
+    - Potential Effects: May attempt to change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 21: Vehicle in the adjacent right lane, purple color
+    - Potential Effects: May maintain its lane or change lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events requiring a change in behavior or speed.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane position. Monitor vehicles 6, 5, and 21 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000000.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..7561f65228b2c622c41ba3079303b0c88df6e861
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 451, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 598, "x2": 1083, "y2": 887, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 189, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 212, "y1": 538, "x2": 408, "y2": 644, "logit": 0.0, "location": [23.557720186188817, 9.60461127338931, 0.5002540154437156], "size": [1.877883791923523, 4.140958786010742, 1.5712640285491943], "instance_token": "f3cce007410f5ebb"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 684, "y1": 551, "x2": 809, "y2": 662, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1418, "y1": 524, "x2": 1534, "y2": 561, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 157, "y1": 525, "x2": 276, "y2": 572, "logit": 0.0, "location": [54.72947910800576, 26.019836290040985, 0.4649221258732723], "size": [1.8792260885238647, 4.797072410583496, 1.7864750623703003], "instance_token": "aa1f85a37d265f8e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1297, "y1": 530, "x2": 1447, "y2": 573, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 793, "y1": 532, "x2": 920, "y2": 575, "logit": 0.0, "location": [57.69450070010498, 4.2797574053984135, 0.3442695558715059], "size": [1.8830269575119019, 4.858288288116455, 1.639710783958435], "instance_token": "37e8d6cea6575b74"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 316, "y1": 530, "x2": 443, "y2": 590, "logit": 0.0, "location": [39.48656294727698, 14.37845029658638, 0.4260809713487106], "size": [1.9138736724853516, 4.629588603973389, 1.7199440002441406], "instance_token": "3af2718eb89c5ca4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1157, "y1": 531, "x2": 1259, "y2": 564, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 795, "y1": 528, "x2": 995, "y2": 574, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000001.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..8754a77abdc96fe69c52d55f512a7138f3f4e57c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000001.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000002.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..adfa895da6ab3b0482ff72ecb60aef44bb596692
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 508, "x2": 738, "y2": 752, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 886, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 193, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 222, "y1": 541, "x2": 408, "y2": 644, "logit": 0.0, "location": [23.557720186188817, 9.60461127338931, 0.5002540154437156], "size": [1.877883791923523, 4.140958786010742, 1.5712640285491943], "instance_token": "f3cce007410f5ebb"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 813, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1410, "y1": 522, "x2": 1519, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 161, "y1": 532, "x2": 270, "y2": 577, "logit": 0.0, "location": [54.72947910800576, 26.019836290040985, 0.4649221258732723], "size": [1.8792260885238647, 4.797072410583496, 1.7864750623703003], "instance_token": "aa1f85a37d265f8e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1420, "y1": 525, "x2": 1516, "y2": 559, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 998, "y1": 531, "x2": 1075, "y2": 562, "logit": 0.0, "location": [57.69450070010498, 4.2797574053984135, 0.3442695558715059], "size": [1.8830269575119019, 4.858288288116455, 1.639710783958435], "instance_token": "37e8d6cea6575b74"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 332, "y1": 524, "x2": 398, "y2": 564, "logit": 0.0, "location": [39.48656294727698, 14.37845029658638, 0.4260809713487106], "size": [1.9138736724853516, 4.629588603973389, 1.7199440002441406], "instance_token": "3af2718eb89c5ca4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 996, "y1": 530, "x2": 1080, "y2": 563, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 633, "y1": 525, "x2": 716, "y2": 560, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000003.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c309e9deae11671935b0dcfb8701565f686fa17
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 885, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 192, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 223, "y1": 540, "x2": 408, "y2": 644, "logit": 0.0, "location": [23.557720186188817, 9.60461127338931, 0.5002540154437156], "size": [1.877883791923523, 4.140958786010742, 1.5712640285491943], "instance_token": "f3cce007410f5ebb"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 812, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1424, "y1": 524, "x2": 1522, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 161, "y1": 533, "x2": 270, "y2": 578, "logit": 0.0, "location": [54.72947910800576, 26.019836290040985, 0.4649221258732723], "size": [1.8792260885238647, 4.797072410583496, 1.7864750623703003], "instance_token": "aa1f85a37d265f8e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1308, "y1": 534, "x2": 1432, "y2": 568, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 907, "y1": 531, "x2": 1016, "y2": 563, "logit": 0.0, "location": [57.69450070010498, 4.2797574053984135, 0.3442695558715059], "size": [1.8830269575119019, 4.858288288116455, 1.639710783958435], "instance_token": "37e8d6cea6575b74"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 301, "y1": 532, "x2": 416, "y2": 578, "logit": 0.0, "location": [39.48656294727698, 14.37845029658638, 0.4260809713487106], "size": [1.9138736724853516, 4.629588603973389, 1.7199440002441406], "instance_token": "3af2718eb89c5ca4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 905, "y1": 532, "x2": 1015, "y2": 563, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000004.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..12c1a5ae07760c63d302b3cbb72eeda22d2f051a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000004.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000005.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c16a9160b7799b6f3144d577f5c9a8cae0d5a53
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 885, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 187, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 223, "y1": 540, "x2": 408, "y2": 644, "logit": 0.0, "location": [23.557720186188817, 9.60461127338931, 0.5002540154437156], "size": [1.877883791923523, 4.140958786010742, 1.5712640285491943], "instance_token": "f3cce007410f5ebb"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 550, "x2": 811, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1416, "y1": 524, "x2": 1512, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1553, "y1": 529, "x2": 1641, "y2": 560, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 729, "y1": 530, "x2": 805, "y2": 560, "logit": 0.0, "location": [57.69450070010498, 4.2797574053984135, 0.3442695558715059], "size": [1.8830269575119019, 4.858288288116455, 1.639710783958435], "instance_token": "37e8d6cea6575b74"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 332, "y1": 524, "x2": 396, "y2": 562, "logit": 0.0, "location": [39.48656294727698, 14.37845029658638, 0.4260809713487106], "size": [1.9138736724853516, 4.629588603973389, 1.7199440002441406], "instance_token": "3af2718eb89c5ca4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 729, "y1": 530, "x2": 805, "y2": 560, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000006.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd4e21282b51c3ca7607e8ad854bacf20160947
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 884, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 193, "y2": 652, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 223, "y1": 541, "x2": 408, "y2": 644, "logit": 0.0, "location": [23.557720186188817, 9.60461127338931, 0.5002540154437156], "size": [1.877883791923523, 4.140958786010742, 1.5712640285491943], "instance_token": "f3cce007410f5ebb"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 551, "x2": 812, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1417, "y1": 524, "x2": 1520, "y2": 563, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1553, "y1": 529, "x2": 1641, "y2": 561, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 630, "y1": 529, "x2": 686, "y2": 560, "logit": 0.0, "location": [57.69450070010498, 4.2797574053984135, 0.3442695558715059], "size": [1.8830269575119019, 4.858288288116455, 1.639710783958435], "instance_token": "37e8d6cea6575b74"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 331, "y1": 524, "x2": 396, "y2": 559, "logit": 0.0, "location": [39.48656294727698, 14.37845029658638, 0.4260809713487106], "size": [1.9138736724853516, 4.629588603973389, 1.7199440002441406], "instance_token": "3af2718eb89c5ca4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 630, "y1": 529, "x2": 686, "y2": 560, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 632, "y1": 529, "x2": 685, "y2": 560, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000007.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..39fc686005a54b77811eb2596234ab66feeeb00c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 885, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 177, "y2": 571, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 224, "y1": 541, "x2": 408, "y2": 644, "logit": 0.0, "location": [23.557720186188817, 9.60461127338931, 0.5002540154437156], "size": [1.877883791923523, 4.140958786010742, 1.5712640285491943], "instance_token": "f3cce007410f5ebb"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 810, "y2": 664, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1394, "y1": 524, "x2": 1518, "y2": 566, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1559, "y1": 529, "x2": 1664, "y2": 560, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.69450070010498, 4.2797574053984135, 0.3442695558715059], "size": [1.8830269575119019, 4.858288288116455, 1.639710783958435], "instance_token": "37e8d6cea6575b74"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 333, "y1": 524, "x2": 398, "y2": 563, "logit": 0.0, "location": [39.48656294727698, 14.37845029658638, 0.4260809713487106], "size": [1.9138736724853516, 4.629588603973389, 1.7199440002441406], "instance_token": "3af2718eb89c5ca4"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000008.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c591d5ee24db73c99220287e51f9b739d348c09
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 454, "y1": 508, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 884, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 165, "y2": 685, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 551, "x2": 811, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1418, "y1": 524, "x2": 1515, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1582, "y1": 529, "x2": 1671, "y2": 566, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 341, "y1": 532, "x2": 425, "y2": 568, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000009.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..160ac3b8da6f045bb70c145ab2023b93b1a6375d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 509, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 599, "x2": 1083, "y2": 885, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 187, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 551, "x2": 811, "y2": 664, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1417, "y1": 524, "x2": 1525, "y2": 563, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1671, "y1": 524, "x2": 1783, "y2": 562, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 353, "y1": 523, "x2": 449, "y2": 573, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000010.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..8575bf6576f0d5c5d8a7ace8b20680704733ebf1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 600, "x2": 1083, "y2": 883, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 220, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 550, "x2": 813, "y2": 664, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1411, "y1": 524, "x2": 1514, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 389, "y1": 529, "x2": 438, "y2": 562, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000011.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17b8df390abf1ac509afa1f8c2c889a5396d76c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000011.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000012.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2b89f103af68ec94da4e51d45432e3508e0da8c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 509, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 884, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 220, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 551, "x2": 810, "y2": 662, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1382, "y1": 531, "x2": 1506, "y2": 569, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 254, "y1": 550, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1286, "y1": 579, "x2": 1580, "y2": 768, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 245, "y1": 524, "x2": 397, "y2": 560, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 92, "y1": 515, "x2": 335, "y2": 580, "logit": 0.0, "location": [38.0191124137491, 17.95841520978138, 0.6249012149655755], "size": [2.0999460220336914, 5.491868495941162, 1.9687325954437256], "instance_token": "3d54cc65f49d54d0"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 982, "y1": 540, "x2": 1101, "y2": 572, "logit": 0.0, "location": [60.58055121311918, -2.6392926783300936, 0.31047878548997687], "size": [1.8365888595581055, 4.718843460083008, 1.536834716796875], "instance_token": "1179d3db5e4a5f15"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000013.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d258fb3397910a93c9b73c032c40d8af1fb8c6
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 509, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 884, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 221, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 810, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1416, "y1": 525, "x2": 1510, "y2": 561, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 550, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1246, "y1": 570, "x2": 1481, "y2": 727, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 245, "y1": 524, "x2": 398, "y2": 558, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 174, "y1": 536, "x2": 341, "y2": 584, "logit": 0.0, "location": [38.0191124137491, 17.95841520978138, 0.6249012149655755], "size": [2.0999460220336914, 5.491868495941162, 1.9687325954437256], "instance_token": "3d54cc65f49d54d0"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 803, "y1": 537, "x2": 909, "y2": 574, "logit": 0.0, "location": [60.58055121311918, -2.6392926783300936, 0.31047878548997687], "size": [1.8365888595581055, 4.718843460083008, 1.536834716796875], "instance_token": "1179d3db5e4a5f15"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000014.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7f46853cf62881b7e587ad3e02022c307c39a29
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000014.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000015.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..056c47cbfaf489fe1db72fc33837151766b595bd
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 509, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 884, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 222, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 551, "x2": 811, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1433, "y1": 524, "x2": 1516, "y2": 560, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 551, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1204, "y1": 560, "x2": 1382, "y2": 683, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 245, "y1": 524, "x2": 393, "y2": 557, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 255, "y1": 538, "x2": 351, "y2": 553, "logit": 0.0, "location": [38.0191124137491, 17.95841520978138, 0.6249012149655755], "size": [2.0999460220336914, 5.491868495941162, 1.9687325954437256], "instance_token": "3d54cc65f49d54d0"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.58055121311918, -2.6392926783300936, 0.31047878548997687], "size": [1.8365888595581055, 4.718843460083008, 1.536834716796875], "instance_token": "1179d3db5e4a5f15"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000016.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec252433c5dd17d956204bc5490c909d0e3dc430
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 509, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 882, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 222, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 686, "y1": 551, "x2": 810, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1409, "y1": 526, "x2": 1513, "y2": 565, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 551, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1194, "y1": 557, "x2": 1356, "y2": 671, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 247, "y1": 524, "x2": 395, "y2": 556, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 191, "y1": 538, "x2": 345, "y2": 572, "logit": 0.0, "location": [38.0191124137491, 17.95841520978138, 0.6249012149655755], "size": [2.0999460220336914, 5.491868495941162, 1.9687325954437256], "instance_token": "3d54cc65f49d54d0"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.58055121311918, -2.6392926783300936, 0.31047878548997687], "size": [1.8365888595581055, 4.718843460083008, 1.536834716796875], "instance_token": "1179d3db5e4a5f15"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000017.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..2474ce8b2db62528d82229ba24cca320ea0015df
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000017.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000018.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb051dca8d4af2597634053d60c558032710fba0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 884, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 221, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 810, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1411, "y1": 524, "x2": 1505, "y2": 556, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 550, "x2": 472, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1181, "y1": 556, "x2": 1328, "y2": 659, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 244, "y1": 523, "x2": 394, "y2": 556, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 219, "y1": 534, "x2": 343, "y2": 572, "logit": 0.0, "location": [38.0191124137491, 17.95841520978138, 0.6249012149655755], "size": [2.0999460220336914, 5.491868495941162, 1.9687325954437256], "instance_token": "3d54cc65f49d54d0"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.58055121311918, -2.6392926783300936, 0.31047878548997687], "size": [1.8365888595581055, 4.718843460083008, 1.536834716796875], "instance_token": "1179d3db5e4a5f15"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000019.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..3efe7b555d8008b7b46ee82942a6c74d56d4486f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 883, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 222, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 550, "x2": 812, "y2": 664, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1419, "y1": 524, "x2": 1515, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 550, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1178, "y1": 554, "x2": 1320, "y2": 656, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 249, "y1": 524, "x2": 394, "y2": 555, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 213, "y1": 534, "x2": 343, "y2": 573, "logit": 0.0, "location": [38.0191124137491, 17.95841520978138, 0.6249012149655755], "size": [2.0999460220336914, 5.491868495941162, 1.9687325954437256], "instance_token": "3d54cc65f49d54d0"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.58055121311918, -2.6392926783300936, 0.31047878548997687], "size": [1.8365888595581055, 4.718843460083008, 1.536834716796875], "instance_token": "1179d3db5e4a5f15"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000020.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d263ff071cabb0aac0bf74c0c482e8e72fa9343
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000020.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000021.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..3466c95f7fecbf21775ac3c8c40758f5ad0fd7db
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000021.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000022.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..64860529438cb8fc82f99f43835d28523520fd74
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000022.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000023.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac1c6f25c4cae9dfc0fb6aa3b755718fd3b203eb
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000023.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000024.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a69960536350d0f900f9662cf561a477a0cc01a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000024.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000025.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e9f3fb5af926b8c75a5c0b1bd0fa6eee1baf7ff
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 509, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 883, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 221, "y2": 696, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 811, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1410, "y1": 524, "x2": 1515, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 551, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1174, "y1": 553, "x2": 1312, "y2": 651, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 258, "y1": 524, "x2": 394, "y2": 554, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1482, "y1": 510, "x2": 1608, "y2": 542, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000026.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05c0264c9d43474347aad1ce0a4a428bd124940
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000026.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000027.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..00bdd89320ee749ece8514eb35db34410e2122d2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 734, "y1": 600, "x2": 1082, "y2": 882, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 221, "y2": 698, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 813, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1418, "y1": 524, "x2": 1514, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.31849332526326, -14.103959249332547, 0.5749248708980303], "size": [1.8685976266860962, 4.728898525238037, 1.5590611696243286], "instance_token": "bb6e9c0b5d1e59aa"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [70.98642675951123, -10.632350419880822, 0.39436949644186825], "size": [1.8818432092666626, 4.961083889007568, 1.5914591550827026], "instance_token": "63d07831e7a553e5"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 550, "x2": 471, "y2": 695, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1171, "y1": 552, "x2": 1305, "y2": 648, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 267, "y1": 524, "x2": 390, "y2": 554, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1482, "y1": 510, "x2": 1605, "y2": 535, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000028.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..7086c29be3bb60ae6621c25e1a90ca1e7771877f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 509, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 882, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 220, "y2": 672, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 810, "y2": 662, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1418, "y1": 524, "x2": 1518, "y2": 563, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 256, "y1": 551, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1170, "y1": 552, "x2": 1303, "y2": 644, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 265, "y1": 524, "x2": 395, "y2": 553, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1485, "y1": 510, "x2": 1602, "y2": 531, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 110, "y2": 1079, "logit": 0.0, "location": [8.560785110574216, 6.427246356848627, 0.6818291647286969], "size": [2.0489513874053955, 5.136152744293213, 1.917614221572876], "instance_token": "591953f1e127595b"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1094, "y1": 532, "x2": 1206, "y2": 585, "logit": 0.0, "location": [47.36152308201417, -6.7204139633104205, 0.4594186670237832], "size": [1.869415044784546, 4.754610061645508, 1.6070891618728638], "instance_token": "58fce33730db5c04"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000029.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be0da4c9e2506a0f5251c120d04a01cdc597c14
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000029.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000030.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c6420c681823e90ea5cdee3057ae76dfa10ecf3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 882, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 221, "y2": 672, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 813, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1418, "y1": 524, "x2": 1516, "y2": 563, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 256, "y1": 550, "x2": 472, "y2": 695, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1169, "y1": 552, "x2": 1298, "y2": 645, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 269, "y1": 524, "x2": 395, "y2": 554, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1484, "y1": 509, "x2": 1606, "y2": 533, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 171, "y2": 1079, "logit": 0.0, "location": [8.560785110574216, 6.427246356848627, 0.6818291647286969], "size": [2.0489513874053955, 5.136152744293213, 1.917614221572876], "instance_token": "591953f1e127595b"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1548, "y1": 531, "x2": 1640, "y2": 572, "logit": 0.0, "location": [47.36152308201417, -6.7204139633104205, 0.4594186670237832], "size": [1.869415044784546, 4.754610061645508, 1.6070891618728638], "instance_token": "58fce33730db5c04"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000031.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f7c3e20f70335bfcf4c973d3d7fe78d532dda3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 508, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 881, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 510, "x2": 221, "y2": 672, "logit": 0.0, "location": [16.208142111543566, 9.519787759287283, 0.7441608327553695], "size": [1.9670077562332153, 4.624961853027344, 1.899104118347168], "instance_token": "76057fed183f5386"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 550, "x2": 811, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1469, "y1": 523, "x2": 1513, "y2": 547, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 551, "x2": 471, "y2": 696, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1169, "y1": 552, "x2": 1299, "y2": 645, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 267, "y1": 524, "x2": 393, "y2": 554, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1483, "y1": 510, "x2": 1599, "y2": 540, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 180, "y2": 785, "logit": 0.0, "location": [8.560785110574216, 6.427246356848627, 0.6818291647286969], "size": [2.0489513874053955, 5.136152744293213, 1.917614221572876], "instance_token": "591953f1e127595b"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 1677, "y1": 536, "x2": 1750, "y2": 569, "logit": 0.0, "location": [47.36152308201417, -6.7204139633104205, 0.4594186670237832], "size": [1.869415044784546, 4.754610061645508, 1.6070891618728638], "instance_token": "58fce33730db5c04"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000032.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..a13ffcd362f43d183cd1b995fcc579101b2b9dcf
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000033.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..655d1fc41415d840acb06aa00913177c876a3772
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 453, "y1": 509, "x2": 738, "y2": 750, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 882, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 813, "y2": 662, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1420, "y1": 522, "x2": 1514, "y2": 562, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 551, "x2": 471, "y2": 695, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1168, "y1": 552, "x2": 1300, "y2": 645, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 271, "y1": 524, "x2": 394, "y2": 554, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1448, "y1": 508, "x2": 1604, "y2": 534, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 181, "y2": 785, "logit": 0.0, "location": [8.560785110574216, 6.427246356848627, 0.6818291647286969], "size": [2.0489513874053955, 5.136152744293213, 1.917614221572876], "instance_token": "591953f1e127595b"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1653, "y1": 521, "x2": 1745, "y2": 556, "logit": 0.0, "location": [58.71209297468886, -27.18501035263762, 0.9433551659876684], "size": [1.8892576694488525, 4.98144006729126, 1.5617955923080444], "instance_token": "0d82340c49dc55ee"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000034.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4ee77f19cb650bb3e1fe580dee5e17ff78aea3f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 452, "y1": 508, "x2": 738, "y2": 751, "logit": 0.0, "location": [15.240382129792124, 3.1239435996394604, 0.6648299514872633], "size": [1.8790359497070312, 4.329991817474365, 1.9805877208709717], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 599, "x2": 1083, "y2": 882, "logit": 0.0, "location": [10.921605175826699, 0.2177326288074255, 0.3556697290896409], "size": [1.856770396232605, 4.351589679718018, 1.453395128250122], "instance_token": "0a2ef84f117857e8"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 685, "y1": 551, "x2": 812, "y2": 663, "logit": 0.0, "location": [23.961788796354085, 3.1323548902291805, 0.4045790685850079], "size": [1.7865264415740967, 4.332643508911133, 1.49056875705719], "instance_token": "b21c500e751b5fec"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1417, "y1": 524, "x2": 1517, "y2": 563, "logit": 0.0, "location": [64.33637678064406, -21.02964941947721, 0.8108595709927613], "size": [1.9072301387786865, 4.795291900634766, 1.656477689743042], "instance_token": "6794d4c5909e5e43"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.70143607724458, 2.497351042693481, 0.3772557620850421], "size": [1.946277141571045, 7.107287406921387, 1.6576924324035645], "instance_token": "73e643add6825c63"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 255, "y1": 551, "x2": 471, "y2": 695, "logit": 0.0, "location": [18.094409852288663, 6.373909320216626, 0.46099352239798463], "size": [1.8484745025634766, 4.358299732208252, 1.5809139013290405], "instance_token": "9b190396062a58ad"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1169, "y1": 552, "x2": 1299, "y2": 645, "logit": 0.0, "location": [15.268928250763565, -4.0635359371080995, 0.3671480846878694], "size": [1.867526650428772, 4.826038837432861, 1.584308385848999], "instance_token": "e989a7fc372253d7"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 272, "y1": 524, "x2": 398, "y2": 553, "logit": 0.0, "location": [59.185106101445854, 24.119764636969194, 0.4852678887800721], "size": [1.8882684707641602, 4.732709884643555, 1.6852807998657227], "instance_token": "1ad34a8f42d85b60"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1487, "y1": 508, "x2": 1602, "y2": 529, "logit": 0.0, "location": [69.34631871571764, -24.549556855577976, 1.2620437877703807], "size": [1.9430058002471924, 5.167593002319336, 1.9375383853912354], "instance_token": "d321164265ac5901"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 180, "y2": 785, "logit": 0.0, "location": [8.560785110574216, 6.427246356848627, 0.6818291647286969], "size": [2.0489513874053955, 5.136152744293213, 1.917614221572876], "instance_token": "591953f1e127595b"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 1671, "y1": 522, "x2": 1752, "y2": 555, "logit": 0.0, "location": [58.71209297468886, -27.18501035263762, 0.9433551659876684], "size": [1.8892576694488525, 4.98144006729126, 1.5617955923080444], "instance_token": "0d82340c49dc55ee"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000035.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..af198a77862ad040dea987c05cea138f1b964a5e
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000035.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000036.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f5f70c79d4659ef6d5d94400e127dc8e4029b2
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000037.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000037.json
new file mode 100644
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000038.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/json_data/mask_000038.json
new file mode 100644
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--- /dev/null
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/mask_data/mask_000000.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/mask_data/mask_000000.pkl
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/mask_data/mask_000002.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/mask_data/mask_000002.pkl
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/prompt.txt
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -85.23, -94.04, -107.47, -93.34
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8b01e104e24f6614cd61a735ff4defb560165f11
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; maintain lane discipline; no overtaking at intersections.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, gray, in front, lane 1
+    - Potential Effects: Blocking path; requires stopping.
+    - Future Behavior: Likely to remain stopped until light changes.
+  - Object 2: Vehicle, yellow, to the left, lane 2
+    - Potential Effects: May move forward or turn left.
+    - Future Behavior: Likely to remain stopped until light changes.
+  - Object 3: Vehicle, white, to the right, lane 3
+    - Potential Effects: May move forward or turn right.
+    - Future Behavior: Likely to remain stopped until light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** Stopped due to red traffic light and vehicles ahead.
+  - **Lane Association:**
+    - Current lane number: 1
+    - Lanes on both sides are in the same direction; lane change possible if safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** Red light and vehicles ahead require stopping. No immediate lane change or overtaking needed.
+- **Driving Plan:** Maintain current position and wait for the light to change. Monitor objects 1, 2, and 3.
+
+*****Reflection:*****
+- **Self-Consistency:** The analysis and planning are consistent. The ego car is in lane 1, and the plan is to remain stopped due to the red light and vehicles ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "1"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:89949f39bd597b44c29eae500135ef4d729662bead0a0b1fb4885ea4032c562b
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/prompt.txt
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index 0000000000000000000000000000000000000000..924fe59aa8bfe9d2886b46eabdf6100061502910
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -93.34, -99.51, -93.85, -87.05
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be1d820a008f346b1c5a174062e297e3bf8875e0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000012/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no lane changes at intersections
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the same lane, stopped at the red light
+    - Potential Effects: Requires stopping behind it
+    - Future Behavior: Remain stopped until the light turns green
+  - Object (ID 2): Gray vehicle in the adjacent lane, stopped
+    - Potential Effects: No immediate effect unless it changes lanes
+    - Future Behavior: Remain stopped until the light turns green
+  - Object (ID 3): Yellow taxi in the left lane, stopped
+    - Potential Effects: No immediate effect unless it changes lanes
+    - Future Behavior: Remain stopped until the light turns green
+  - Object (ID 5): White vehicle in the right lane, stopped
+    - Potential Effects: No immediate effect unless it changes lanes
+    - Future Behavior: Remain stopped until the light turns green
+  - Object (ID 6): White vehicle in the far right lane, stopped
+    - Potential Effects: No immediate effect unless it changes lanes
+    - Future Behavior: Remain stopped until the light turns green
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** A deceleration to zero
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane changes are possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping, and the vehicles ahead are also stopped.
+- **Driving Plan:** Maintain current position until the light changes. Monitor objects ID 1, 2, 3, 5, and 6 for any movement.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The ego car is correctly positioned to stop due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/gt_fut_traj.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..135b6737baeec7d25b3741d0c68d068f5ad50657
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -87.05, -110.17, 65.11, -118.61
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/response.txt
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index 0000000000000000000000000000000000000000..81dc546b1c7f44aab83875659ca8b6367f4015c9
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no lane changes over solid lines, drive on the right side.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, gray, in the same lane, stopped at the red light.
+    - Potential Effects: Requires stopping behind it.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object 3: Taxi, yellow, in the left lane, stopped.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object 5: Vehicle, white, in the right lane, stopped.
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Remain stopped until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** A deceleration to zero
+  - **Explanation:** Stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction, solid lines indicate no lane change.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping, and the vehicle ahead is also stopped.
+- **Driving Plan:** Maintain current position until the light changes. Relevant objects: 1, 3, 5.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning, as all indicate stopping due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2eb384b0957972733d9356ddc697762e92fc40fd
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bba5829538ceab5bf4f3255f601686fd2e87db3266d1aaa666b5f2ed1a582fad
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..beb55ea48682c011d1d65a8d1412afab27816ee4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2d4cdf376fefacaa489d3be6b3d8a26aa11d2cf0ee1d7184820e334315e76c
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..73843b2b054fc729d722b3dd929280c4b1dc3d40
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -118.61, -99.97, -41.51, -115.48
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d4d81f3312f1ca69319940d4581ca149337e3ce
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID: 1): Gray vehicle, center lane, no lights
+    - Potential Effects: Blocking the path, must wait for it to move.
+    - Future Behavior: Likely to remain stopped until the light changes.
+  - Object (ID: 3): Yellow taxi, left lane, no lights
+    - Potential Effects: May attempt to change lanes or turn.
+    - Future Behavior: Likely to stay in lane until light changes.
+  - Object (ID: 5): White vehicle, right lane, no lights
+    - Potential Effects: Blocking the path, must wait for it to move.
+    - Future Behavior: Likely to remain stopped until the light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change possible when safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires the ego car to remain stopped until it turns green.
+- **Driving Plan:** Maintain current position and wait for the light to change. Relevant objects: ID 1, ID 3, ID 5.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The ego car is correctly positioned to stop due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4144875b7d6f19fd3a61087c63b3bf5c8c050f94
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7148c0511194efd29362381833f672c1897a0814bdcc279c9bdabaddeef8e8b8
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..52b9de8a1377626bdcc022fa95c39029efd2510c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d27f9aa540aed3ee6771e0a74d2d6e98a5426df8518b3b586d96ed5d1000ee29
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7b08be34f92cfae34cb6e494fc172041119d61c0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -115.48, -91.38, -107.11, -14.14
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62a3b57d46123a831f7c17062b017927de2b5a88
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, gray, in the same lane, no lights on.
+    - Potential Effects: May slow down or stop if traffic ahead changes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 5): Vehicle, yellow taxi, in the left lane, no lights on.
+    - Potential Effects: May attempt to change lanes or continue straight.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 2): Vehicle, white, in the right lane, no lights on.
+    - Potential Effects: May merge into the current lane or continue straight.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to the green light and clear traffic conditions.
+  - **Lane Association:**
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events requiring a change in behavior or speed.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane discipline. Monitor vehicles ID 1, 5, and 2 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the middle lane, and the plan to continue moving forward is consistent with the current traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..faa0dccc86ff9f3fb1673ff271521dd41f288e3f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc40c4303ec4923bef834b2f397ea6c38d2191444dfe42f867f774bb0983e76
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..25a6a5c48503f584b3034386ff19734e8a996fbc
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd068d36a8234fd803ea59b24fd8a9636ca96b2696254f70d8b398baa5bce014
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e279de3bb64c15c146fd7bf8b8b99d17afc1e246
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -14.14, -132.74, -101.12, -115.97
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8510864ee0feee6974132d1253c1cb1ee05335f3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_3/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey traffic lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, gray, in the same lane
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 5): Vehicle, yellow, in the left lane
+    - Potential Effects: May change lanes or maintain its position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 2): Vehicle, white, in the right lane
+    - Potential Effects: May merge into our lane.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the road ahead is clear, allowing for continued movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles ID 1, 5, and 2 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000000.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ad4038cef41e6caadd20f62cfe35a4fe75742b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 517, "x2": 36, "y2": 622, "logit": 0.0, "location": [24.207870855461806, 14.65761786676012, 0.7852883159757766], "size": [1.0871760040317808, 2.4245216285464593, 1.7500065912674303], "instance_token": "1ea62ddceb53538d"}, "2": {"instance_id": 2, "class_name": "bicycle", "x1": 9, "y1": 510, "x2": 165, "y2": 603, "logit": 0.0, "location": [27.61453605303541, 14.554589910199866, 0.9290260244488309], "size": [0.9490151227746572, 2.137750177192178, 1.7662002284482057], "instance_token": "ba83c6c9ec0654d6"}}}, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 894, "y1": 511, "x2": 935, "y2": 545, "logit": 0.0, "location": [77.81335285818204, 2.3416591375134885, 0.8629501265240833], "size": [2.0054426193237305, 4.712878704071045, 1.9747501611709595], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 938, "y1": 527, "x2": 1010, "y2": 582, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 634, "y1": 522, "x2": 835, "y2": 670, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 427, "y1": 527, "x2": 621, "y2": 639, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 296, "y1": 501, "x2": 456, "y2": 600, "logit": 0.0, "location": [27.518136526923627, 10.793711555888876, 0.7798992273274052], "size": [1.9975214004516602, 4.8075761795043945, 1.8329336643218994], "instance_token": "835decc313055409"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 564, "y1": 510, "x2": 635, "y2": 565, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 594, "y1": 498, "x2": 695, "y2": 569, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "63182"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000001.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6290a73690238710d0e16e72ecc064331a85232
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.207870855461806, 14.65761786676012, 0.7852883159757766], "size": [1.0871760040317808, 2.4245216285464593, 1.7500065912674303], "instance_token": "1ea62ddceb53538d"}, "2": {"instance_id": 2, "class_name": "bicycle", "x1": 0, "y1": 544, "x2": 34, "y2": 605, "logit": 0.0, "location": [27.61453605303541, 14.554589910199866, 0.9290260244488309], "size": [0.9490151227746572, 2.137750177192178, 1.7662002284482057], "instance_token": "ba83c6c9ec0654d6"}}}, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 888, "y1": 514, "x2": 925, "y2": 545, "logit": 0.0, "location": [77.81335285818204, 2.3416591375134885, 0.8629501265240833], "size": [2.0054426193237305, 4.712878704071045, 1.9747501611709595], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 932, "y1": 528, "x2": 1000, "y2": 583, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 643, "y1": 522, "x2": 836, "y2": 664, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 446, "y1": 528, "x2": 635, "y2": 632, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 160, "y1": 504, "x2": 365, "y2": 619, "logit": 0.0, "location": [27.518136526923627, 10.793711555888876, 0.7798992273274052], "size": [1.9975214004516602, 4.8075761795043945, 1.8329336643218994], "instance_token": "835decc313055409"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 532, "y1": 508, "x2": 587, "y2": 527, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 585, "y1": 499, "x2": 671, "y2": 567, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "63180"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000002.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97dd3d767fecb901c922963716ea931d8180de1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.207870855461806, 14.65761786676012, 0.7852883159757766], "size": [1.0871760040317808, 2.4245216285464593, 1.7500065912674303], "instance_token": "1ea62ddceb53538d"}, "2": {"instance_id": 2, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.61453605303541, 14.554589910199866, 0.9290260244488309], "size": [0.9490151227746572, 2.137750177192178, 1.7662002284482057], "instance_token": "ba83c6c9ec0654d6"}}}, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 887, "y1": 530, "x2": 923, "y2": 561, "logit": 0.0, "location": [77.81335285818204, 2.3416591375134885, 0.8629501265240833], "size": [2.0054426193237305, 4.712878704071045, 1.9747501611709595], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 934, "y1": 544, "x2": 1002, "y2": 599, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 651, "y1": 541, "x2": 835, "y2": 677, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 469, "y1": 543, "x2": 647, "y2": 647, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 520, "x2": 233, "y2": 663, "logit": 0.0, "location": [27.518136526923627, 10.793711555888876, 0.7798992273274052], "size": [1.9975214004516602, 4.8075761795043945, 1.8329336643218994], "instance_token": "835decc313055409"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 495, "y1": 529, "x2": 543, "y2": 553, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 519, "y1": 516, "x2": 629, "y2": 558, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "63181"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000003.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ea2951b53179209970e7c06356e9d4a2ba6fe1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.207870855461806, 14.65761786676012, 0.7852883159757766], "size": [1.0871760040317808, 2.4245216285464593, 1.7500065912674303], "instance_token": "1ea62ddceb53538d"}, "2": {"instance_id": 2, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.61453605303541, 14.554589910199866, 0.9290260244488309], "size": [0.9490151227746572, 2.137750177192178, 1.7662002284482057], "instance_token": "ba83c6c9ec0654d6"}}}, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 883, "y1": 528, "x2": 919, "y2": 560, "logit": 0.0, "location": [77.81335285818204, 2.3416591375134885, 0.8629501265240833], "size": [2.0054426193237305, 4.712878704071045, 1.9747501611709595], "instance_token": "4329190647a15f4e"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 933, "y1": 546, "x2": 999, "y2": 599, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 653, "y1": 543, "x2": 832, "y2": 676, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 486, "y1": 547, "x2": 654, "y2": 645, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 548, "x2": 32, "y2": 685, "logit": 0.0, "location": [27.518136526923627, 10.793711555888876, 0.7798992273274052], "size": [1.9975214004516602, 4.8075761795043945, 1.8329336643218994], "instance_token": "835decc313055409"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 437, "y1": 533, "x2": 484, "y2": 581, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 445, "y1": 518, "x2": 589, "y2": 584, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000004.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..16930a8f31ec9724d7bcb8f9f526f30704bb2991
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 932, "y1": 542, "x2": 997, "y2": 594, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 653, "y1": 541, "x2": 828, "y2": 671, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 499, "y1": 540, "x2": 655, "y2": 636, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 374, "y1": 529, "x2": 401, "y2": 579, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 388, "y1": 510, "x2": 515, "y2": 572, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 294, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 167, "y1": 528, "x2": 358, "y2": 606, "logit": 0.0, "location": [33.33141999132931, 14.45349856489338, 0.6129926821231493], "size": [1.852168083190918, 4.4885077476501465, 1.5426970720291138], "instance_token": "adad368eb5e85b5d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 13, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000005.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf9e9cdd4e5bdc6180b4ccb85e52c49ace582e9
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 941, "y1": 538, "x2": 1006, "y2": 588, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 664, "y1": 537, "x2": 835, "y2": 665, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 523, "y1": 533, "x2": 670, "y2": 628, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 271, "y1": 542, "x2": 300, "y2": 581, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 288, "y1": 505, "x2": 443, "y2": 579, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 531, "x2": 379, "y2": 1073, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 70, "y1": 527, "x2": 271, "y2": 607, "logit": 0.0, "location": [33.33141999132931, 14.45349856489338, 0.6129926821231493], "size": [1.852168083190918, 4.4885077476501465, 1.5426970720291138], "instance_token": "adad368eb5e85b5d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000006.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..938c8f1b435756501bd4fe43adb04f3a2cc702b1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 947, "y1": 535, "x2": 1011, "y2": 584, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 674, "y1": 535, "x2": 839, "y2": 660, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 550, "y1": 533, "x2": 685, "y2": 622, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 191, "y1": 509, "x2": 326, "y2": 588, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 507, "x2": 456, "y2": 1073, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [33.33141999132931, 14.45349856489338, 0.6129926821231493], "size": [1.852168083190918, 4.4885077476501465, 1.5426970720291138], "instance_token": "adad368eb5e85b5d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000007.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ff65fdcf0a9e4cf9403dfc25bad7f1ca3b3a9
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 946, "y1": 506, "x2": 1009, "y2": 554, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 676, "y1": 506, "x2": 836, "y2": 627, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 569, "y1": 508, "x2": 689, "y2": 591, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 379, "y1": 503, "x2": 420, "y2": 545, "logit": 0.0, "location": [60.47033391566947, 13.939899829449132, 0.7810237830817641], "size": [1.8924400806427002, 4.618581295013428, 1.765969157218933], "instance_token": "5782a8ad0ae454af"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 238, "y1": 494, "x2": 321, "y2": 525, "logit": 0.0, "location": [52.62909834133461, 10.303788108285517, 0.8784558481711429], "size": [2.160773515701294, 5.568611145019531, 1.8552021980285645], "instance_token": "178cee745b9550ab"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 491, "x2": 510, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [33.33141999132931, 14.45349856489338, 0.6129926821231493], "size": [1.852168083190918, 4.4885077476501465, 1.5426970720291138], "instance_token": "adad368eb5e85b5d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67411"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000008.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..b80647f1b9017daa7c766d6400e1b284ee47dc75
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 937, "y1": 538, "x2": 998, "y2": 585, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 675, "y1": 532, "x2": 830, "y2": 649, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 581, "y1": 534, "x2": 689, "y2": 613, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 506, "x2": 548, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "9"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000009.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a88d9d637f3dbe67b041a2af912c4a1dc5566a4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 927, "y1": 541, "x2": 989, "y2": 592, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 672, "y1": 541, "x2": 821, "y2": 654, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 591, "y1": 541, "x2": 685, "y2": 617, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 508, "x2": 565, "y2": 1057, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "9"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000010.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..771f276318ed9cc954a5a9a45c17a2b3b996487e
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 914, "y1": 540, "x2": 976, "y2": 586, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 662, "y1": 537, "x2": 809, "y2": 648, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 595, "y1": 538, "x2": 681, "y2": 612, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 555, "y2": 1023, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "9"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000011.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a31d53fe0ceb401b0eb01e9ac77bd55a7dfc05
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 905, "y1": 541, "x2": 965, "y2": 589, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 654, "y1": 540, "x2": 800, "y2": 649, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 598, "y1": 540, "x2": 673, "y2": 610, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 531, "y2": 1015, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "9"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000012.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1f7f3181c3755f2eb66c6af2f641f156de08fe
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 901, "y1": 531, "x2": 965, "y2": 579, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 651, "y1": 531, "x2": 798, "y2": 639, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 607, "y1": 531, "x2": 674, "y2": 598, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 508, "y2": 1016, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 762, "y1": 515, "x2": 805, "y2": 555, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "9"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000013.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..8662e4dd38d561e7f6175d109eb22d2e0fb821c3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 905, "y1": 534, "x2": 968, "y2": 583, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 653, "y1": 532, "x2": 799, "y2": 642, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 623, "y1": 532, "x2": 678, "y2": 597, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 506, "x2": 500, "y2": 1036, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 769, "y1": 517, "x2": 813, "y2": 556, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 2, "ego_lane": "68361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000014.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e56d9189171182ff2ce475b3493cbaf5260ecff
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 905, "y1": 528, "x2": 969, "y2": 578, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 647, "y1": 528, "x2": 794, "y2": 638, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 631, "y1": 526, "x2": 674, "y2": 589, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 505, "x2": 484, "y2": 1052, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 771, "y1": 511, "x2": 815, "y2": 549, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "68361"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000015.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e746a3d4a2b52dcd03414bdd9aeabe20a3ecb9
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 899, "y1": 530, "x2": 964, "y2": 580, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 634, "y1": 530, "x2": 784, "y2": 643, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [23.09264446841553, 6.02607619902119, 0.5691701730756904], "size": [1.9043140411376953, 4.755148410797119, 1.49296236038208], "instance_token": "de8f42270fb257c3"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 509, "x2": 461, "y2": 1075, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 770, "y1": 514, "x2": 816, "y2": 552, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "64385"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000016.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ac194e00f73d02409189d53af9e129b4f8dbf7
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 896, "y1": 530, "x2": 963, "y2": 579, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 622, "y1": 530, "x2": 778, "y2": 641, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 505, "x2": 438, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 772, "y1": 514, "x2": 818, "y2": 551, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "64385"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000017.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..36980c675098d660647e3f0dabfaf2f9af49f8cf
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 895, "y1": 527, "x2": 962, "y2": 578, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 615, "y1": 527, "x2": 776, "y2": 643, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 508, "x2": 419, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 777, "y1": 512, "x2": 825, "y2": 550, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "64385"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000018.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c57f417af3c797707accf12e6e816046a606c68
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 898, "y1": 531, "x2": 965, "y2": 583, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 613, "y1": 529, "x2": 776, "y2": 645, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 412, "y2": 1075, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 785, "y1": 517, "x2": 834, "y2": 554, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "64385"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000019.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a6b3b5f813ce45062f8221b4338d260851d816
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 910, "y1": 531, "x2": 978, "y2": 585, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 622, "y1": 530, "x2": 788, "y2": 649, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 513, "x2": 427, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 801, "y1": 518, "x2": 852, "y2": 556, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "64385"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000020.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74f0eefafc8e550e8e2ce383e58d993cfe42ea6
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 924, "y1": 530, "x2": 992, "y2": 584, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 636, "y1": 528, "x2": 805, "y2": 648, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 508, "x2": 448, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 819, "y1": 517, "x2": 870, "y2": 555, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000021.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..52549e19a76003a8deb4accc76c7d22b2055dc82
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 937, "y1": 530, "x2": 1006, "y2": 585, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 648, "y1": 528, "x2": 820, "y2": 652, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 497, "x2": 466, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 832, "y1": 516, "x2": 885, "y2": 556, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000022.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..813e75af215f8a6ca4bbfb9f10689469a8b28333
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 949, "y1": 528, "x2": 1018, "y2": 582, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 659, "y1": 525, "x2": 832, "y2": 651, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 496, "x2": 473, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 840, "y1": 513, "x2": 893, "y2": 554, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000023.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..3adf148bc3c7110640513b94d24e22c801488aae
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 952, "y1": 537, "x2": 1023, "y2": 592, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 665, "y1": 530, "x2": 838, "y2": 660, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 502, "x2": 463, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 840, "y1": 521, "x2": 894, "y2": 563, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000024.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d37d72397e38ec4490da22a6070f853ff8a044
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 953, "y1": 534, "x2": 1025, "y2": 590, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 666, "y1": 529, "x2": 840, "y2": 658, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 501, "x2": 438, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 834, "y1": 518, "x2": 891, "y2": 562, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 389, "y1": 466, "x2": 517, "y2": 560, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000025.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea56dd09871a74875b7ce0c9f0207d6180b72591
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 950, "y1": 534, "x2": 1024, "y2": 591, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 659, "y1": 528, "x2": 835, "y2": 658, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 503, "x2": 400, "y2": 1024, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 827, "y1": 520, "x2": 883, "y2": 563, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 357, "y1": 464, "x2": 502, "y2": 544, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000026.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..8006a027a76722e00c52d4b119c9a63600ca364d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 947, "y1": 534, "x2": 1023, "y2": 593, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 650, "y1": 528, "x2": 829, "y2": 661, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 526, "x2": 356, "y2": 1039, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 814, "y1": 519, "x2": 875, "y2": 566, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 217, "y1": 461, "x2": 462, "y2": 516, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000027.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cc0b3eca88d6b3ccc9438a713685eb0f28d017b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 945, "y1": 536, "x2": 1023, "y2": 596, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 639, "y1": 531, "x2": 825, "y2": 666, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 562, "x2": 299, "y2": 1036, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 801, "y1": 519, "x2": 864, "y2": 569, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 158, "y1": 456, "x2": 430, "y2": 516, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "68356"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000028.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..786f0b0f6413952a72147c38f541c241edc4cf58
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 952, "y1": 537, "x2": 1033, "y2": 599, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 637, "y1": 533, "x2": 831, "y2": 674, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 686, "x2": 238, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 795, "y1": 520, "x2": 862, "y2": 574, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 83, "y1": 449, "x2": 303, "y2": 530, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 139, "y1": 513, "x2": 515, "y2": 728, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 923, "y1": 517, "x2": 970, "y2": 559, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 855, "y1": 520, "x2": 900, "y2": 563, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 883, "y1": 520, "x2": 921, "y2": 555, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "68356"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000029.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c7ddd2e2b91996ab936a7e459724c697d86c847
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 955, "y1": 537, "x2": 1040, "y2": 603, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 628, "y1": 533, "x2": 834, "y2": 683, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 744, "x2": 146, "y2": 1079, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 785, "y1": 521, "x2": 855, "y2": 579, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 431, "x2": 199, "y2": 546, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 95, "y1": 514, "x2": 501, "y2": 744, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 919, "y1": 518, "x2": 971, "y2": 562, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 847, "y1": 522, "x2": 892, "y2": 567, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 881, "y1": 518, "x2": 917, "y2": 558, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "68356"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000030.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb6d574d3d986f43963d7113b91fa2f2b4c7cac
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 952, "y1": 537, "x2": 1040, "y2": 606, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 605, "y1": 532, "x2": 829, "y2": 693, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 762, "y1": 520, "x2": 838, "y2": 584, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 58, "y1": 417, "x2": 131, "y2": 517, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 12, "y1": 513, "x2": 465, "y2": 767, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 908, "y1": 516, "x2": 963, "y2": 564, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 827, "y1": 526, "x2": 876, "y2": 568, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 865, "y1": 518, "x2": 903, "y2": 559, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "68356"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000031.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..c210e40b9d5c92949eb732e54d91d166d77ad04e
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 947, "y1": 537, "x2": 1041, "y2": 611, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 574, "y1": 532, "x2": 817, "y2": 709, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.00427165441215, 3.290890196338296, 0.738240167425829], "size": [2.100682020187378, 5.569116592407227, 2.0286622047424316], "instance_token": "f13a41d4737158db"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 732, "y1": 519, "x2": 818, "y2": 584, "logit": 0.0, "location": [74.13165348861367, 8.142152784392238, 0.8151121327118744], "size": [2.078366756439209, 4.9825568199157715, 1.9995484352111816], "instance_token": "591953f1e127595b"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 445, "x2": 56, "y2": 519, "logit": 0.0, "location": [46.365230506751686, 14.901991526130587, 1.6189160046633333], "size": [2.663341760635376, 2.5140793323516846, 3.2776949405670166], "instance_token": "86dad2a7f03a563a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 515, "x2": 415, "y2": 803, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 896, "y1": 520, "x2": 953, "y2": 566, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 824, "y1": 520, "x2": 864, "y2": 569, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 847, "y1": 517, "x2": 892, "y2": 560, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "68356"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000032.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..4131ba2e4d7ba0516ebad593eccb56893055f3a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 941, "y1": 537, "x2": 1041, "y2": 617, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 534, "y1": 535, "x2": 805, "y2": 729, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 515, "x2": 348, "y2": 853, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 881, "y1": 523, "x2": 943, "y2": 571, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 801, "y1": 527, "x2": 845, "y2": 573, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 832, "y1": 518, "x2": 882, "y2": 565, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000033.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c0e2a006b3c08c45c8b64ad719fbe38115d282b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 935, "y1": 541, "x2": 1043, "y2": 627, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 477, "y1": 539, "x2": 788, "y2": 757, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 515, "x2": 251, "y2": 829, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 868, "y1": 525, "x2": 935, "y2": 576, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 775, "y1": 528, "x2": 827, "y2": 580, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 810, "y1": 521, "x2": 862, "y2": 570, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000034.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c299332d68b2fb48e95ee0c58d7bacc786abf2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"2": {"instance_id": 2, "class_name": "vehicle", "x1": 928, "y1": 544, "x2": 1046, "y2": 638, "logit": 0.0, "location": [43.82385632395744, -0.31613027257844806, 0.3890760475769639], "size": [1.9355981349945068, 4.475320816040039, 1.5541430711746216], "instance_token": "0a2ef84f117857e8"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 401, "y1": 541, "x2": 766, "y2": 799, "logit": 0.0, "location": [20.252694520633668, 2.600962839089334, 0.6252049638787867], "size": [2.011277437210083, 4.7444987297058105, 1.7697142362594604], "instance_token": "647a6a9a9ee95331"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 619, "x2": 105, "y2": 868, "logit": 0.0, "location": [15.621661260258406, 6.075240563601255, 0.6209073442150839], "size": [2.1646268367767334, 5.838712692260742, 1.992662787437439], "instance_token": "abfd4e8aae6b5310"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 852, "y1": 527, "x2": 924, "y2": 583, "logit": 0.0, "location": [68.48233838146552, 0.7533941799774766, 0.7400341734828544], "size": [1.9695768356323242, 4.637473106384277, 1.9044148921966553], "instance_token": "9e26fc15b4ee5a84"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 749, "y1": 531, "x2": 807, "y2": 586, "logit": 0.0, "location": [67.86909437738359, 3.7290166856255382, 0.7444974589670892], "size": [1.8974740505218506, 4.4790802001953125, 1.9895665645599365], "instance_token": "60606d7b480c5ec0"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 790, "y1": 521, "x2": 849, "y2": 573, "logit": 0.0, "location": [76.11744102137163, 3.0795179351698607, 0.6098896054172656], "size": [1.9198437929153442, 4.515413284301758, 1.8273061513900757], "instance_token": "e2e4ae92dce151e5"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"37": {"instance_id": 37, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "37"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000035.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..8299196abaf5ab24901a4675e58379e4888bdc4d
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000035.json
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000036.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000036.json
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000037.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000037.json
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000038.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/json_data/mask_000038.json
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/prompt.txt
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index 0000000000000000000000000000000000000000..817aadf52a88632edc467069ede241e7c60aaa39
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.45, 10.15, 10.66, 10.76]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.95, -0.9, -1.04, -1.08
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..75cb020262d8cdf84da3dc6778687831eef572a2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000006/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of merging traffic.
+
+- **Notable Objects:**
+  - Object 2: Vehicle in the right lane, silver color
+    - Potential Effects: May merge into the current lane
+    - Future Behavior: Likely to continue straight or merge
+  - Object 3: Vehicle in the center lane, orange color
+    - Potential Effects: Directly in the path, maintaining speed
+    - Future Behavior: Likely to continue straight
+  - Object 4: Vehicle in the left lane, yellow color
+    - Potential Effects: May merge or continue in its lane
+    - Future Behavior: Likely to continue straight
+  - Object 7: Vehicle in the far left lane, white color
+    - Potential Effects: No immediate effect
+    - Future Behavior: Likely to continue straight
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic conditions and no immediate obstacles.
+  - **Lane Association: **
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if needed.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The path is clear with no immediate obstacles or traffic lights, allowing for a steady pace.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 2 and 3 for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/gt_fut_traj_mask.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4812c947190829c28d3e7138a48e118cd68d8e6
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [10.76, 10.74, 11.68, 12.68]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.08, -0.95, -1.24, -1.15
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0e5d7e382f3adec87a8d265c0d765d0f0ac1a87
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey speed limits, and maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 8: Vehicle (SUV, left lane, gray)
+    - Potential Effects: May merge into the current lane or maintain its lane.
+    - Future Behavior: Likely to continue straight or merge right.
+  - Object 3: Vehicle (sedan, center lane, black)
+    - Potential Effects: Directly ahead, may slow down or maintain speed.
+    - Future Behavior: Likely to continue straight.
+  - Object 2: Vehicle (sedan, right lane, white)
+    - Potential Effects: May merge into the center lane.
+    - Future Behavior: Likely to continue straight or merge left.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and maintaining a constant speed is safe and efficient.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 8, 3, and 2 for any lane changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/gt_fut_traj.pkl
new file mode 100644
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44c27f773d64b703ad31bb7d8044c0b13232953db28ed797e078dbc8e80d03ec
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a04b8e5e2892869bf0c144fd4e4deddbfbe6f1ce
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.68, 12.94, 12.65, 12.26]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.15, -1.08, -1.26, -1.12
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bbfdc5648bd394bc529132975225834cc8172c77
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000018/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey lane markings, maintain speed limits
+
+- **Notable Objects:**
+  - Object (ID 8): SUV, left lane, gray
+    - Potential Effects: May merge into the current lane or continue straight
+    - Future Behavior: Likely to maintain its lane or merge
+  - Object (ID 3): Car, center lane, orange
+    - Potential Effects: Directly ahead, may affect speed
+    - Future Behavior: Likely to continue straight
+  - Object (ID 10): Car, center lane, pink
+    - Potential Effects: Directly ahead, may affect speed
+    - Future Behavior: Likely to continue straight
+  - Object (ID 2): Car, center lane, white
+    - Potential Effects: Directly ahead, may affect speed
+    - Future Behavior: Likely to continue straight
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear lanes and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if safe.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear with no immediate obstacles, allowing for continued forward movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles (IDs 3, 10, 2) ahead for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..14f4309b144aa3ccae501abcd55606c35e120113
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:287eb1d532e0be12fd25ca161d969e8753723e3f7c68cd4a996783e70e09f89c
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b190122a506ab71d0d56e4df9c7d30aa0d0bdd241e086123ee647b77a6a99f
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c03b668c6c5c75bb022d285d121468775fe9180
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.26, 11.86, 11.4, 10.93]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.12, -1.02, -0.93, -0.8
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c118d82885d2a323cfda75ad890512424360c482
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000024/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of vehicles in adjacent lanes.
+
+- **Notable Objects:**
+  - Object (ID 8): SUV in the left lane, gray color
+    - Potential Effects: May merge into the current lane or maintain its position.
+    - Future Behavior: Likely to continue straight or merge.
+  - Object (ID 3): Vehicle in the same lane, orange color
+    - Potential Effects: Slowing down may require deceleration.
+    - Future Behavior: Likely to continue straight.
+  - Object (ID 10): Vehicle in the right lane, blue color
+    - Potential Effects: May merge into the current lane.
+    - Future Behavior: Likely to continue straight.
+  - Object (ID 2): Vehicle ahead in the same lane, pink color
+    - Potential Effects: May require maintaining a safe distance.
+    - Future Behavior: Likely to continue straight.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and maintaining a constant speed is appropriate given the traffic conditions and lane availability.
+- **Driving Plan:** Continue moving forward at a constant speed, keeping an eye on vehicles ID 3 and ID 2 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f4f1e0ece1885694d2b6d9b628da7ac13df40880
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eb00c66af4ee65b8fa7d04fc8bfb3621b55ce6ee9bfd7067f1794c4ee452188
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b32ea549861cde2590f03485059badb4f239b422
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b68d54aaccd80ba6624450e04a7a299f8445996badf3e894545e0673af8058c
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f453988b76ab500da62daec19fd97d299a127b72
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [10.93, 10.38, 9.97, 9.56]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.8, -1.08, -1.06, -1.07
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9ee3521748f7bf6f26fe58a4586f7bf13f44889f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000030/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain speed limits, and ensure safe following distance.
+
+- **Notable Objects:**
+  - Object (ID: 2): Vehicle, right lane, white color
+    - Potential Effects: May slow down or stop, affecting lane movement.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID: 3): Vehicle, center lane, orange color
+    - Potential Effects: May slow down or stop, affecting lane movement.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID: 8): Vehicle, left lane, blue color
+    - Potential Effects: May slow down or stop, affecting lane movement.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID: 10): Vehicle, center lane, purple color
+    - Potential Effects: May slow down or stop, affecting lane movement.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID: 11): Vehicle, left lane, blue color
+    - Potential Effects: May slow down or stop, affecting lane movement.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear, and the vehicles ahead are maintaining their lanes and speed, allowing for continued forward movement without adjustments.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles (IDs: 2, 3, 8, 10, 11) for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the center lane with clear conditions, supporting the decision to maintain speed and lane.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bf3c4ef79b2aefd20161bbbde287836a11f76b81
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44d068efb0109a318bbf3ea8f8bc84ea8d9521db901aada04af54400bcc4c23
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b39a52221d674e133c4dd0927c85a1756ade40a1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6982dcb7e57c43ac174ed98950e88e56012dcc35c00133a33a08cdd3cb47267a
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..59972a969a75f34542ecba551c88c731f591db59
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.56, 8.73, 7.72, 6.33]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.07, -1.07, -0.86, -1.06
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..74ac6554fbc7ac77cbd59918ce23f18771161770
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_6/result/output_000036/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 3): Vehicle, in the same lane, dark color
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped until the light changes.
+  - Object (ID 2): Vehicle, adjacent lane, light color
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to remain stopped until the light changes.
+  - Object (ID 13): Vehicle, two lanes over, white color
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to remain stopped until the light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A DECELERATION
+  - **Explanation:** The ego car was decelerating due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping, and the vehicle in front (ID 3) is also stopped.
+- **Driving Plan:** Stop behind the vehicle in front (ID 3) and wait for the light to change.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000000.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..260155e44263e0e8d21c4c3ab584362836d19951
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 884, "y1": 539, "x2": 973, "y2": 608, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 654, "y1": 531, "x2": 815, "y2": 648, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 599, "y1": 520, "x2": 691, "y2": 607, "logit": 0.0, "location": [35.52702786959708, 6.699988723034039, 0.7907083201062051], "size": [2.01434063911438, 5.057339668273926, 2.0477190017700195], "instance_token": "591953f1e127595b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 516, "x2": 381, "y2": 1016, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 874, "y1": 507, "x2": 921, "y2": 556, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 959, "y1": 523, "x2": 998, "y2": 556, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1051, "y1": 406, "x2": 1178, "y2": 604, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1110, "y1": 548, "x2": 1303, "y2": 683, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63140"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000001.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..85baa23902b9a8be717e92da93bf48a862e50d06
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 893, "y1": 540, "x2": 981, "y2": 608, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 665, "y1": 530, "x2": 822, "y2": 647, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 614, "y1": 522, "x2": 702, "y2": 604, "logit": 0.0, "location": [35.52702786959708, 6.699988723034039, 0.7907083201062051], "size": [2.01434063911438, 5.057339668273926, 2.0477190017700195], "instance_token": "591953f1e127595b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 507, "x2": 424, "y2": 1079, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 876, "y1": 512, "x2": 926, "y2": 556, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 965, "y1": 524, "x2": 1006, "y2": 557, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1068, "y1": 407, "x2": 1203, "y2": 606, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1122, "y1": 555, "x2": 1319, "y2": 693, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "5"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000002.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bca14fa054012923092efa6df558add8aa8cf7c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 899, "y1": 538, "x2": 988, "y2": 606, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 672, "y1": 528, "x2": 828, "y2": 643, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 628, "y1": 518, "x2": 710, "y2": 598, "logit": 0.0, "location": [35.52702786959708, 6.699988723034039, 0.7907083201062051], "size": [2.01434063911438, 5.057339668273926, 2.0477190017700195], "instance_token": "591953f1e127595b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 501, "x2": 459, "y2": 1079, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 878, "y1": 510, "x2": 923, "y2": 555, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 972, "y1": 522, "x2": 1010, "y2": 555, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1088, "y1": 402, "x2": 1214, "y2": 604, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1135, "y1": 557, "x2": 1338, "y2": 697, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000003.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..23529603475b72c24440b855774ed439abe607cd
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 899, "y1": 542, "x2": 986, "y2": 609, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 671, "y1": 533, "x2": 825, "y2": 648, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 635, "y1": 521, "x2": 715, "y2": 600, "logit": 0.0, "location": [35.52702786959708, 6.699988723034039, 0.7907083201062051], "size": [2.01434063911438, 5.057339668273926, 2.0477190017700195], "instance_token": "591953f1e127595b"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 508, "x2": 479, "y2": 1069, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 871, "y1": 512, "x2": 920, "y2": 560, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 972, "y1": 525, "x2": 1012, "y2": 558, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1104, "y1": 404, "x2": 1234, "y2": 612, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1142, "y1": 562, "x2": 1356, "y2": 711, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000004.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d596e80b51533f14df9d3356b5c23784b5f0664
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 901, "y1": 537, "x2": 988, "y2": 603, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 669, "y1": 528, "x2": 825, "y2": 643, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 498, "y2": 1017, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 867, "y1": 511, "x2": 915, "y2": 555, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 974, "y1": 518, "x2": 1018, "y2": 554, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1126, "y1": 392, "x2": 1260, "y2": 605, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1156, "y1": 558, "x2": 1385, "y2": 716, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000005.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..22697cd89574d4f07bad0732cb4d42b9a69b8b7f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 902, "y1": 537, "x2": 988, "y2": 604, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 667, "y1": 529, "x2": 821, "y2": 643, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 508, "x2": 514, "y2": 990, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 861, "y1": 512, "x2": 907, "y2": 558, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 978, "y1": 521, "x2": 1024, "y2": 556, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1154, "y1": 384, "x2": 1297, "y2": 612, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1169, "y1": 561, "x2": 1413, "y2": 730, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000006.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..2eeb369818c97943234d7d39b755ff63a498ee5f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 905, "y1": 538, "x2": 991, "y2": 605, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 665, "y1": 532, "x2": 821, "y2": 647, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 513, "x2": 532, "y2": 967, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 858, "y1": 513, "x2": 905, "y2": 561, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 985, "y1": 523, "x2": 1034, "y2": 556, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1189, "y1": 378, "x2": 1341, "y2": 606, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1190, "y1": 564, "x2": 1452, "y2": 742, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000007.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..be46d33372da26b9be64fefbac2b9ef156ec2b01
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 909, "y1": 538, "x2": 995, "y2": 605, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 664, "y1": 530, "x2": 823, "y2": 649, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 552, "y2": 954, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 856, "y1": 520, "x2": 904, "y2": 564, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 996, "y1": 521, "x2": 1040, "y2": 557, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1215, "y1": 364, "x2": 1396, "y2": 608, "logit": 0.0, "location": [40.07730375090614, -3.532448676880449, 2.0544520662588184], "size": [2.9740076065063477, 14.200289726257324, 4.675014972686768], "instance_token": "9293a55ab8875a88"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1217, "y1": 565, "x2": 1508, "y2": 755, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67303"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000008.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd91990926af502e281faf1eaa985da6122d9bb4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 909, "y1": 540, "x2": 995, "y2": 607, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 656, "y1": 535, "x2": 818, "y2": 656, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 516, "x2": 563, "y2": 953, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 849, "y1": 521, "x2": 902, "y2": 569, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 999, "y1": 526, "x2": 1043, "y2": 561, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1239, "y1": 574, "x2": 1585, "y2": 787, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67303"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000009.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c742a78385e8e2b8e0e2f5101324c21d7292099
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 907, "y1": 536, "x2": 994, "y2": 605, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 642, "y1": 529, "x2": 812, "y2": 658, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 507, "x2": 562, "y2": 962, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 844, "y1": 522, "x2": 896, "y2": 567, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 999, "y1": 522, "x2": 1047, "y2": 557, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1262, "y1": 573, "x2": 1684, "y2": 823, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67303"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000010.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aecf5e5c2b1d9312390fe299126f129a8f1a252
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 904, "y1": 537, "x2": 992, "y2": 606, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 625, "y1": 528, "x2": 799, "y2": 663, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 502, "x2": 555, "y2": 982, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 837, "y1": 524, "x2": 891, "y2": 569, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 999, "y1": 522, "x2": 1048, "y2": 559, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1286, "y1": 583, "x2": 1803, "y2": 883, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000011.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..0437dfd79270aa63c3e6ca66b2daa8d5b22423e3
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 898, "y1": 536, "x2": 988, "y2": 606, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 598, "y1": 529, "x2": 785, "y2": 669, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 503, "x2": 539, "y2": 1016, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 830, "y1": 524, "x2": 884, "y2": 570, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 998, "y1": 523, "x2": 1045, "y2": 559, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1318, "y1": 597, "x2": 1919, "y2": 951, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000012.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6fb0cf89ba978fd4c238f8abf2b8e1cf25b414a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 897, "y1": 538, "x2": 985, "y2": 607, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 571, "y1": 534, "x2": 773, "y2": 681, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 506, "x2": 509, "y2": 1070, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 825, "y1": 528, "x2": 883, "y2": 573, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 996, "y1": 527, "x2": 1043, "y2": 562, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1361, "y1": 612, "x2": 1919, "y2": 1038, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1431, "y1": 0, "x2": 1919, "y2": 659, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 779, "y1": 529, "x2": 818, "y2": 560, "logit": 0.0, "location": [77.27959177596495, 7.99009591108188, 0.22796871954051312], "size": [1.904977798461914, 4.469371318817139, 1.638831377029419], "instance_token": "e73c4848e04f5f8d"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 514, "y1": 532, "x2": 590, "y2": 585, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 914, "y1": 527, "x2": 972, "y2": 559, "logit": 0.0, "location": [78.81148729799315, 0.9923110678792, 0.4774231877963757], "size": [1.896969199180603, 4.809215545654297, 1.7625391483306885], "instance_token": "3d89d7fb97c851a8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000013.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae687243563f9168ff52da1de97bae708da74156
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 896, "y1": 539, "x2": 986, "y2": 609, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 544, "y1": 538, "x2": 764, "y2": 694, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 507, "x2": 457, "y2": 1079, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 822, "y1": 529, "x2": 881, "y2": 577, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 992, "y1": 529, "x2": 1043, "y2": 564, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1412, "y1": 624, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1470, "y1": 0, "x2": 1919, "y2": 672, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 778, "y1": 531, "x2": 819, "y2": 561, "logit": 0.0, "location": [77.27959177596495, 7.99009591108188, 0.22796871954051312], "size": [1.904977798461914, 4.469371318817139, 1.638831377029419], "instance_token": "e73c4848e04f5f8d"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 480, "y1": 534, "x2": 563, "y2": 593, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 908, "y1": 530, "x2": 973, "y2": 559, "logit": 0.0, "location": [78.81148729799315, 0.9923110678792, 0.4774231877963757], "size": [1.896969199180603, 4.809215545654297, 1.7625391483306885], "instance_token": "3d89d7fb97c851a8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000014.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b484439950f6a9c604958e5e1c110a1e4cafcb5
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 894, "y1": 537, "x2": 983, "y2": 606, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 515, "y1": 535, "x2": 753, "y2": 704, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 516, "x2": 383, "y2": 1031, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 820, "y1": 526, "x2": 878, "y2": 574, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 989, "y1": 526, "x2": 1038, "y2": 562, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1464, "y1": 639, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1518, "y1": 0, "x2": 1919, "y2": 656, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 777, "y1": 528, "x2": 815, "y2": 558, "logit": 0.0, "location": [77.27959177596495, 7.99009591108188, 0.22796871954051312], "size": [1.904977798461914, 4.469371318817139, 1.638831377029419], "instance_token": "e73c4848e04f5f8d"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 439, "y1": 532, "x2": 532, "y2": 595, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 904, "y1": 528, "x2": 969, "y2": 557, "logit": 0.0, "location": [78.81148729799315, 0.9923110678792, 0.4774231877963757], "size": [1.896969199180603, 4.809215545654297, 1.7625391483306885], "instance_token": "3d89d7fb97c851a8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000015.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f1e1b044434750f19b66f4145d0b28095de3490
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 891, "y1": 537, "x2": 981, "y2": 606, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 484, "y1": 536, "x2": 741, "y2": 716, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 588, "x2": 276, "y2": 1042, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 818, "y1": 526, "x2": 876, "y2": 573, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 985, "y1": 527, "x2": 1032, "y2": 562, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1511, "y1": 653, "x2": 1919, "y2": 1061, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1568, "y1": 0, "x2": 1919, "y2": 557, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 775, "y1": 527, "x2": 811, "y2": 556, "logit": 0.0, "location": [77.27959177596495, 7.99009591108188, 0.22796871954051312], "size": [1.904977798461914, 4.469371318817139, 1.638831377029419], "instance_token": "e73c4848e04f5f8d"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 391, "y1": 532, "x2": 494, "y2": 597, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 903, "y1": 528, "x2": 970, "y2": 556, "logit": 0.0, "location": [78.81148729799315, 0.9923110678792, 0.4774231877963757], "size": [1.896969199180603, 4.809215545654297, 1.7625391483306885], "instance_token": "3d89d7fb97c851a8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000016.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..32be8a233380218abdf2a393bd9a2ac0f5865e75
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 889, "y1": 534, "x2": 978, "y2": 604, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 454, "y1": 532, "x2": 730, "y2": 724, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 724, "x2": 134, "y2": 1079, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 816, "y1": 524, "x2": 873, "y2": 571, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 979, "y1": 527, "x2": 1026, "y2": 560, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1546, "y1": 670, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1629, "y1": 0, "x2": 1919, "y2": 567, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 340, "y1": 528, "x2": 450, "y2": 578, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000017.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42ca98834b000b24703a8241d5a6b3dd39bc41a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 886, "y1": 539, "x2": 975, "y2": 607, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 426, "y1": 533, "x2": 715, "y2": 735, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 813, "y1": 527, "x2": 871, "y2": 574, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 972, "y1": 530, "x2": 1021, "y2": 565, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1565, "y1": 688, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1701, "y1": 0, "x2": 1919, "y2": 578, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 263, "y1": 530, "x2": 372, "y2": 614, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000018.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..069e5bf9e2f718014a3a0befd9cc2eeac324a8c4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 886, "y1": 530, "x2": 975, "y2": 599, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 403, "y1": 524, "x2": 701, "y2": 733, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 814, "y1": 520, "x2": 870, "y2": 565, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 971, "y1": 522, "x2": 1016, "y2": 557, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1563, "y1": 684, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1788, "y1": 0, "x2": 1919, "y2": 581, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 185, "y1": 521, "x2": 340, "y2": 613, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000019.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..da6f554464bbe0b9349c5c82ec42e776d4ef3618
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 891, "y1": 548, "x2": 977, "y2": 616, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 391, "y1": 542, "x2": 692, "y2": 753, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [5.877018705941737, 3.5998049112968147, 0.7156060535853612], "size": [2.0333304405212402, 5.654170513153076, 2.072821617126465], "instance_token": "f13a41d4737158db"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 818, "y1": 538, "x2": 872, "y2": 582, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 971, "y1": 540, "x2": 1014, "y2": 573, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1541, "y1": 679, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1884, "y1": 0, "x2": 1919, "y2": 284, "logit": 0.0, "location": [15.347556494642049, -6.944615571061149, 2.000546408176888], "size": [2.9683897495269775, 13.865981101989746, 4.605612277984619], "instance_token": "9293a55ab8875a88"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 98, "y1": 540, "x2": 275, "y2": 643, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000020.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..800604c398a46d7f66a2f33e9b5dffb6e0919648
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 906, "y1": 548, "x2": 990, "y2": 615, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 404, "y1": 546, "x2": 703, "y2": 756, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 834, "y1": 538, "x2": 885, "y2": 581, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 981, "y1": 539, "x2": 1020, "y2": 570, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1519, "y1": 665, "x2": 1919, "y2": 1075, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 546, "x2": 208, "y2": 665, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 750, "y1": 531, "x2": 803, "y2": 573, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 286, "y1": 553, "x2": 419, "y2": 623, "logit": 0.0, "location": [33.180332000833005, 13.11871789349243, 0.054779174519353546], "size": [1.885694980621338, 4.582096099853516, 1.552542805671692], "instance_token": "64b5d70437035c73"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000021.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c17d6393ed30bdfdbe5c93a1b27430ff6ec479
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 907, "y1": 552, "x2": 991, "y2": 618, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 415, "y1": 552, "x2": 706, "y2": 756, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 834, "y1": 542, "x2": 883, "y2": 584, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 975, "y1": 541, "x2": 1010, "y2": 572, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1475, "y1": 652, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 556, "x2": 107, "y2": 680, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 755, "y1": 537, "x2": 805, "y2": 576, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 215, "y1": 560, "x2": 369, "y2": 639, "logit": 0.0, "location": [33.180332000833005, 13.11871789349243, 0.054779174519353546], "size": [1.885694980621338, 4.582096099853516, 1.552542805671692], "instance_token": "64b5d70437035c73"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000022.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..543ea23ba61ee50eec206698eda40e49a5a8f81b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 905, "y1": 547, "x2": 989, "y2": 613, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 428, "y1": 545, "x2": 711, "y2": 743, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 831, "y1": 537, "x2": 878, "y2": 577, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 966, "y1": 535, "x2": 999, "y2": 567, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1434, "y1": 640, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 755, "y1": 530, "x2": 803, "y2": 569, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 120, "y1": 556, "x2": 297, "y2": 645, "logit": 0.0, "location": [33.180332000833005, 13.11871789349243, 0.054779174519353546], "size": [1.885694980621338, 4.582096099853516, 1.552542805671692], "instance_token": "64b5d70437035c73"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000023.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9380a931605f63c85a30127fc777b310be57d6
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 902, "y1": 549, "x2": 986, "y2": 614, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 444, "y1": 544, "x2": 714, "y2": 734, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 826, "y1": 536, "x2": 872, "y2": 575, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 949, "y1": 536, "x2": 990, "y2": 570, "logit": 0.0, "location": [74.54607728449628, -0.8368508096318692, 0.8559494072542293], "size": [1.945878267288208, 4.454924583435059, 1.6392741203308105], "instance_token": "8024576dc14255c2"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1401, "y1": 637, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [51.72294830903411, 13.620026108343154, 0.16685269502340816], "size": [1.9853336811065674, 4.708603382110596, 1.7551220655441284], "instance_token": "c1f2f43163e35a7a"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 753, "y1": 530, "x2": 802, "y2": 568, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 30, "y1": 559, "x2": 204, "y2": 646, "logit": 0.0, "location": [33.180332000833005, 13.11871789349243, 0.054779174519353546], "size": [1.885694980621338, 4.582096099853516, 1.552542805671692], "instance_token": "64b5d70437035c73"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000024.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..8597fa1da6ae4b49b195681320cd46d317087777
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 899, "y1": 550, "x2": 983, "y2": 616, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 457, "y1": 547, "x2": 718, "y2": 728, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 821, "y1": 537, "x2": 867, "y2": 574, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1374, "y1": 629, "x2": 1919, "y2": 1042, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 754, "y1": 531, "x2": 799, "y2": 567, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 310, "y1": 531, "x2": 454, "y2": 634, "logit": 0.0, "location": [28.385753758251667, 10.554743604268879, 0.40328968484391226], "size": [1.9055885076522827, 4.632956504821777, 1.8848952054977417], "instance_token": "d1734f728d8151b0"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 520, "x2": 248, "y2": 818, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000025.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..6295e5397894cf0e0f1d0ca9acf122f18501e1aa
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 899, "y1": 539, "x2": 985, "y2": 607, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 476, "y1": 537, "x2": 728, "y2": 711, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 821, "y1": 525, "x2": 864, "y2": 562, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1354, "y1": 612, "x2": 1919, "y2": 1003, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 755, "y1": 520, "x2": 798, "y2": 556, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 256, "y1": 522, "x2": 384, "y2": 630, "logit": 0.0, "location": [28.385753758251667, 10.554743604268879, 0.40328968484391226], "size": [1.9055885076522827, 4.632956504821777, 1.8848952054977417], "instance_token": "d1734f728d8151b0"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 339, "y2": 766, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000026.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..2197271ec8ea99f336e83fd5d80d3986d9a2285b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 902, "y1": 540, "x2": 988, "y2": 609, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 505, "y1": 538, "x2": 744, "y2": 703, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 822, "y1": 524, "x2": 864, "y2": 562, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1334, "y1": 606, "x2": 1919, "y2": 965, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 759, "y1": 519, "x2": 800, "y2": 555, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.385753758251667, 10.554743604268879, 0.40328968484391226], "size": [1.9055885076522827, 4.632956504821777, 1.8848952054977417], "instance_token": "d1734f728d8151b0"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 38, "y1": 514, "x2": 421, "y2": 729, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000027.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..394843c6bc06cc1ca6bbe1666eacb4f84843594a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 905, "y1": 542, "x2": 990, "y2": 611, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 535, "y1": 538, "x2": 761, "y2": 696, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 824, "y1": 526, "x2": 864, "y2": 562, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1313, "y1": 605, "x2": 1894, "y2": 940, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 763, "y1": 522, "x2": 803, "y2": 556, "logit": 0.0, "location": [66.8996838866733, 7.697454915149137, 0.19446887091908138], "size": [2.076829433441162, 4.868006229400635, 2.1008949279785156], "instance_token": "591953f1e127595b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 555, "x2": 174, "y2": 700, "logit": 0.0, "location": [28.385753758251667, 10.554743604268879, 0.40328968484391226], "size": [1.9055885076522827, 4.632956504821777, 1.8848952054977417], "instance_token": "d1734f728d8151b0"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 177, "y1": 514, "x2": 491, "y2": 699, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000028.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb91c6ecaf33d1d35590fc10957568f25a0a234b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 906, "y1": 538, "x2": 990, "y2": 606, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 564, "y1": 530, "x2": 775, "y2": 683, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 826, "y1": 523, "x2": 865, "y2": 556, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1289, "y1": 596, "x2": 1812, "y2": 900, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 281, "y1": 510, "x2": 546, "y2": 671, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 538, "x2": 9, "y2": 586, "logit": 0.0, "location": [50.928483406081796, 33.715494762174785, -0.06303015906451037], "size": [1.99546217918396, 4.9417724609375, 1.7150567770004272], "instance_token": "8375a927de745145"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 31, "y1": 532, "x2": 155, "y2": 581, "logit": 0.0, "location": [58.52205444779247, 31.44366427278146, -0.039463527042244095], "size": [1.9684418439865112, 4.972225666046143, 1.6659907102584839], "instance_token": "bce6fccfd7595186"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 145, "y1": 530, "x2": 293, "y2": 576, "logit": 0.0, "location": [67.28349262056872, 31.168877362739295, 0.12866828405094566], "size": [2.026132345199585, 8.087615013122559, 2.0357444286346436], "instance_token": "bd0127b3cb9a5d1c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 14, "ego_lane": "14"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000029.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af0477cb3fa0a249bfa390677f63ff0cc5a9bf4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 910, "y1": 544, "x2": 994, "y2": 613, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 597, "y1": 536, "x2": 796, "y2": 683, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 833, "y1": 529, "x2": 873, "y2": 560, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1267, "y1": 599, "x2": 1730, "y2": 872, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 375, "y1": 518, "x2": 598, "y2": 659, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.928483406081796, 33.715494762174785, -0.06303015906451037], "size": [1.99546217918396, 4.9417724609375, 1.7150567770004272], "instance_token": "8375a927de745145"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 0, "y1": 541, "x2": 49, "y2": 593, "logit": 0.0, "location": [58.52205444779247, 31.44366427278146, -0.039463527042244095], "size": [1.9684418439865112, 4.972225666046143, 1.6659907102584839], "instance_token": "bce6fccfd7595186"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 105, "y1": 537, "x2": 305, "y2": 587, "logit": 0.0, "location": [67.28349262056872, 31.168877362739295, 0.12866828405094566], "size": [2.026132345199585, 8.087615013122559, 2.0357444286346436], "instance_token": "bd0127b3cb9a5d1c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "63144"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000030.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf837f62d382df573f4e07584cc20688a6edda53
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 913, "y1": 541, "x2": 997, "y2": 608, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 623, "y1": 533, "x2": 807, "y2": 671, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 837, "y1": 526, "x2": 878, "y2": 556, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1246, "y1": 588, "x2": 1661, "y2": 833, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 448, "y1": 515, "x2": 634, "y2": 642, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.928483406081796, 33.715494762174785, -0.06303015906451037], "size": [1.99546217918396, 4.9417724609375, 1.7150567770004272], "instance_token": "8375a927de745145"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.52205444779247, 31.44366427278146, -0.039463527042244095], "size": [1.9684418439865112, 4.972225666046143, 1.6659907102584839], "instance_token": "bce6fccfd7595186"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 55, "y1": 536, "x2": 277, "y2": 591, "logit": 0.0, "location": [67.28349262056872, 31.168877362739295, 0.12866828405094566], "size": [2.026132345199585, 8.087615013122559, 2.0357444286346436], "instance_token": "bd0127b3cb9a5d1c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "63144"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000031.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..27280dde601fefbd4a731a1657f7995c7b33fc05
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 912, "y1": 530, "x2": 997, "y2": 598, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 641, "y1": 521, "x2": 815, "y2": 652, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 845, "y1": 514, "x2": 881, "y2": 545, "logit": 0.0, "location": [73.2501950613223, 3.174848561407998, 1.0659465955322958], "size": [2.0388779640197754, 4.6715569496154785, 2.070072650909424], "instance_token": "9e26fc15b4ee5a84"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1225, "y1": 576, "x2": 1597, "y2": 806, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 503, "y1": 503, "x2": 655, "y2": 618, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.928483406081796, 33.715494762174785, -0.06303015906451037], "size": [1.99546217918396, 4.9417724609375, 1.7150567770004272], "instance_token": "8375a927de745145"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.52205444779247, 31.44366427278146, -0.039463527042244095], "size": [1.9684418439865112, 4.972225666046143, 1.6659907102584839], "instance_token": "bce6fccfd7595186"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 0, "y1": 536, "x2": 153, "y2": 581, "logit": 0.0, "location": [67.28349262056872, 31.168877362739295, 0.12866828405094566], "size": [2.026132345199585, 8.087615013122559, 2.0357444286346436], "instance_token": "bd0127b3cb9a5d1c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "63144"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000032.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..85a7e79461a0ece5e15857246a5f1a0310bde599
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000033.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..10ec9fed425c40405ff7c6088e729eb651fa5317
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 896, "y1": 548, "x2": 979, "y2": 613, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 654, "y1": 540, "x2": 807, "y2": 657, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1170, "y1": 580, "x2": 1467, "y2": 773, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 567, "y1": 526, "x2": 681, "y2": 621, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 517, "x2": 422, "y2": 1079, "logit": 0.0, "location": [4.939734559971839, 3.472416059114039, 0.666203199980373], "size": [2.1048192977905273, 5.61489725112915, 2.0394883155822754], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67560"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000034.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b76c3f5c6e66caf04d186ddb3f7f48aa6e5640a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 885, "y1": 545, "x2": 966, "y2": 610, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 653, "y1": 538, "x2": 797, "y2": 650, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1148, "y1": 571, "x2": 1417, "y2": 748, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 583, "y1": 524, "x2": 682, "y2": 611, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 516, "x2": 476, "y2": 1079, "logit": 0.0, "location": [4.939734559971839, 3.472416059114039, 0.666203199980373], "size": [2.1048192977905273, 5.61489725112915, 2.0394883155822754], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67374"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000035.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..101a8273b389d12f92ab084dbee78e3c4ef5b4dd
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 874, "y1": 540, "x2": 955, "y2": 604, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 649, "y1": 530, "x2": 786, "y2": 641, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1128, "y1": 561, "x2": 1375, "y2": 726, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 594, "y1": 519, "x2": 686, "y2": 603, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 512, "x2": 510, "y2": 1079, "logit": 0.0, "location": [4.939734559971839, 3.472416059114039, 0.666203199980373], "size": [2.1048192977905273, 5.61489725112915, 2.0394883155822754], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67242"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000036.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..552f5f79a2daf627505005ffb32bf4c9aaf7835b
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 869, "y1": 540, "x2": 950, "y2": 604, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 652, "y1": 531, "x2": 785, "y2": 635, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1111, "y1": 560, "x2": 1335, "y2": 710, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 607, "y1": 520, "x2": 691, "y2": 598, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 513, "x2": 543, "y2": 997, "logit": 0.0, "location": [4.939734559971839, 3.472416059114039, 0.666203199980373], "size": [2.1048192977905273, 5.61489725112915, 2.0394883155822754], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67242"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000037.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..6072f17b5552eac6c9b34d5567c2da5c7cae68af
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000037.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000037.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 868, "y1": 538, "x2": 949, "y2": 600, "logit": 0.0, "location": [34.755083098541945, 0.6731888172216713, 0.5011973035507253], "size": [1.9498406648635864, 4.420213222503662, 1.4159748554229736], "instance_token": "0a2ef84f117857e8"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 663, "y1": 528, "x2": 789, "y2": 628, "logit": 0.0, "location": [24.478188785724342, 3.2745860894210637, 0.6277187683954253], "size": [1.975730299949646, 4.637088775634766, 1.7689160108566284], "instance_token": "647a6a9a9ee95331"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1101, "y1": 554, "x2": 1304, "y2": 691, "logit": 0.0, "location": [19.812276693992317, -2.8532913005910814, 0.5412636862238287], "size": [1.931137204170227, 4.822218418121338, 1.5808541774749756], "instance_token": "30777ef1506c5621"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 625, "y1": 517, "x2": 705, "y2": 592, "logit": 0.0, "location": [11.17469886643812, 7.0044305538758636, 0.6422334500603029], "size": [2.18552565574646, 6.03867244720459, 2.029165267944336], "instance_token": "44b579d715035a31"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 514, "x2": 578, "y2": 937, "logit": 0.0, "location": [4.939734559971839, 3.472416059114039, 0.666203199980373], "size": [2.1048192977905273, 5.61489725112915, 2.0394883155822754], "instance_token": "f13a41d4737158db"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67242"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000038.json b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce054f92937d2d3459f4bea883ec3730ee65a4a
--- /dev/null
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/prompt.txt
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.1, 8.88, 8.91, 8.88]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.31, -1.26, -1.2, -1.17
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84f0038d67d295af06ec664b0678f7c9f7e03c68
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings and maintain a safe distance from other vehicles.
+
+- **Notable Objects:**
+  - Object 1 (ID: 4): SUV in the left lane, black, no visible signals
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue straight
+  - Object 2 (ID: 5): Sedan in the center lane, gray, no visible signals
+    - Potential Effects: Directly in front, may require speed adjustment
+    - Future Behavior: Likely to continue straight
+  - Object 3 (ID: 8): Sedan in the right lane, green, no visible signals
+    - Potential Effects: May affect lane change decisions
+    - Future Behavior: Likely to continue straight
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear lanes and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and there are no immediate obstacles or traffic lights requiring a change in behavior or speed.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 5 and ID 8 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.88, 8.92, 8.87, 8.51]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.17, -1.35, -1.21, -1.11
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4f041b544bbdb86482c16b67ba99d3896635ff74
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000012/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, right lane, black
+    - Potential Effects: May slow down or stop; requires monitoring.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 2): Vehicle, center lane, white
+    - Potential Effects: Directly ahead; may require slowing down if it decelerates.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 4): Vehicle, left lane, yellow
+    - Potential Effects: No immediate impact unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 5): Vehicle, center lane, red
+    - Potential Effects: Directly ahead; may require slowing down if it decelerates.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear ahead with a green light, and there are no immediate obstacles or notable events requiring a change in behavior.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 2 and ID 5.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the center lane, and the plan is to continue moving forward without lane changes.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f84050a81d2da0e68b2103272135419dfe0747f0
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73269dbde3d77b065b3e2df59375b49184ec33eb4389cb6f891e90b582af236e
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4846dc369191b3eca6d2ac1aa84d60684a04432a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b599833506a7a92e1ded372abacd45e54a8dff58dc2ae3d8e51d318dd7a811e0
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c86ba7fafac0cce20afe769da93eb45f6647766a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.51, 8.13, 7.76, 7.4]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.11, -0.94, -0.97, -1.16
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1b877f3283fb9374fd758f442191d6de3624a0f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey traffic lights, maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, in the same lane, red color
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle, in the left lane, silver color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 5: Vehicle, in the right lane, yellow color
+    - Potential Effects: May merge into your lane.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Move forward
+  - **Past Speed adjustment:** A constant speed
+  - **Explanation:** The road is clear with a green light, allowing for smooth travel.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the road ahead is clear, allowing for continued movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles 1, 2, and 5 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..69e39ce0e26457deb82dd6ae6e35612362b5e78c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:543454cc7084a3302250cc4439ca2c298b14665fa687495c151086084d33fd31
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f0c156e74304aeba8f3bb31e115bfef7d2d9b258
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e8e45d8405edac3fdb8829ac0ce5197a303b6749e4b9dd86f41e6ed4dc6bcce
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c7595b923784dac9080dc22708f1df0bd9c0e3c1
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.4, 7.03, 7.34, 8.04]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.16, -1.25, -1.29, -1.04
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c4892b8a0878e632ff1d6f69c7d880816fece7a
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow traffic lights, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the same lane
+    - Potential Effects: May slow down or stop, affecting the ego vehicle's speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 2): White vehicle in the left lane
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 8): Black vehicle in the right lane
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego vehicle was maintaining a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events affecting the current lane.
+- **Driving Plan:** Continue moving forward at a constant speed, keeping an eye on the red vehicle (ID 1) in the same lane.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f83726714a09195320c3e2ae0ab3211947ce40b4
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e4b74a7561e67b51ca1b226d205187fa498408a4b666027844c6a0619f3dd07
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9403d2bb5d11f6b2f706c14d008374ae66f763ca
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46b02cf74e646d08efdbba8997b5fd3afc8ebc0647bbb4816ceccf743e412a47
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..72f73aee96f0bb7dee582d08f2f1d358fe2d5de2
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.04, 8.09, 7.92, 8.01]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.04, -1.05, -1.01, -1.01
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a03410fc9b391f1a2010944db0bd05683bb0fc59
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Proceed through the green light, maintain lane discipline, and obey speed limits.
+
+- **Notable Objects:**
+  - Object (ID 2): Vehicle, in the same lane, red color
+    - Potential Effects: May slow down or stop unexpectedly.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 5): Vehicle, in the adjacent lane, white color
+    - Potential Effects: May change lanes or maintain current path.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 8): Vehicle, in the adjacent lane, black color
+    - Potential Effects: May change lanes or maintain current path.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the path is clear. Maintaining a constant speed is appropriate.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 2, 5, and 8.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..139dddc1926fb84ff7e3a5825f28cb87bdc20493
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e7de3da1f9d659d9d7e6f3bf9cb1a7b60789eaab5fe01776dd0034da86cfc15
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bd02c8cb0c6a8a4410aae027096836d012fc8a8f
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e65174cdb96e3ae0dcf450aeb9e0836f63b5f0e5927e3fd699d291cc25c077
+size 267
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/prompt.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f4a2d66f7ec5c79092a2b807ce1c2294f3a5685c
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.01, 8.06, 8.82, 9.27]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.01, -0.59, -0.88, -1.16
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/response.txt b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e4094cc4b8e12e14537623177e00ba2a35de6498
--- /dev/null
+++ b/nuplan-2021.05.12.22.28.35_veh-35_00620_01164_scene_9/result/output_000036/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 20): SUV in the left lane, silver color
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 16): Vehicle in the middle lane, blue color
+    - Potential Effects: May slow down or stop if traffic ahead changes
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 12): Vehicle in the middle lane, red color
+    - Potential Effects: May affect speed if it slows down
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 1): Vehicle in the right lane, red color
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 8): Vehicle in the right lane, black color
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue moving forward
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to the green light and clear traffic conditions.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The green light and clear traffic ahead allow for continued movement at a constant speed. No immediate need for lane changes or overtaking.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane position. Monitor vehicles (IDs 16, 12) in the middle lane.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The plan to move forward at a constant speed is consistent with the current traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec614786adc78bea67a70e4f74f04c5f9e2bde6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000000.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cfc6c9a036c8a09d03139816385a86390799801
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 750, "y1": 519, "x2": 1172, "y2": 919, "logit": 0.0, "location": [9.845701097510755, -0.05280638544354588, 0.5592333735839929], "size": [1.9338005781173706, 4.58219575881958, 1.7782648801803589], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 619, "x2": 432, "y2": 1015, "logit": 0.0, "location": [7.863689382560551, 3.753743150504306, 0.3842986110394122], "size": [1.850216031074524, 4.3906073570251465, 1.4746744632720947], "instance_token": "d5f00e18fd8b5d36"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 656, "y1": 531, "x2": 712, "y2": 567, "logit": 0.0, "location": [68.34078721283004, 11.982654262450524, 0.3120766285137506], "size": [1.958269715309143, 4.53328800201416, 1.6895586252212524], "instance_token": "1b49c0cb9fcc56f1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 562, "y1": 539, "x2": 618, "y2": 571, "logit": 0.0, "location": [67.69317194679752, 16.132525698281825, 0.010062692002975382], "size": [1.9568846225738525, 4.37267541885376, 1.5179336071014404], "instance_token": "4746a0f534c85a4d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 607, "y1": 526, "x2": 657, "y2": 564, "logit": 0.0, "location": [77.24878219980747, 16.342272842884995, 0.24648314266232774], "size": [2.1240482330322266, 4.86815071105957, 1.898679494857788], "instance_token": "05d279b089ec57e6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 486, "y1": 540, "x2": 542, "y2": 575, "logit": 0.0, "location": [68.51173166977242, 19.614819852169603, -0.09573008742881939], "size": [1.990587830543518, 4.618652820587158, 1.6079515218734741], "instance_token": "397fe3dedd3b5cbf"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 537, "x2": 575, "y2": 571, "logit": 0.0, "location": [77.41207127412781, 19.873492763726972, -0.017449551829486154], "size": [1.8761764764785767, 4.518499374389648, 1.6955273151397705], "instance_token": "dbd2735883ee516e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 557, "x2": 66, "y2": 596, "logit": 0.0, "location": [65.62138410285115, 39.186225542100146, -1.3568446453718934], "size": [2.0015947818756104, 4.991577625274658, 1.7006727457046509], "instance_token": "f6a62ff310d9535c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1188, "y1": 522, "x2": 1295, "y2": 565, "logit": 0.0, "location": [62.38772003445774, -14.441155436914414, 0.787282845529262], "size": [2.0220024585723877, 5.179445266723633, 1.942201852798462], "instance_token": "4fc064ae4cff546c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 5, "y1": 566, "x2": 146, "y2": 617, "logit": 0.0, "location": [38.83349260175601, 16.720985087100416, -0.036995123999076895], "size": [1.9439722299575806, 4.930093288421631, 1.7059669494628906], "instance_token": "3554fc7d86b758ad"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1533, "y1": 525, "x2": 1635, "y2": 576, "logit": 0.0, "location": [50.994878265075386, -25.52955577033572, 0.9112946643872419], "size": [2.017301559448242, 5.421907901763916, 1.9091016054153442], "instance_token": "1a71dac694b75c78"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 788, "y1": 520, "x2": 888, "y2": 586, "logit": 0.0, "location": [46.559234560932964, -6.5244856246281415, 0.8172478676569881], "size": [2.1293187141418457, 5.491647243499756, 2.0158541202545166], "instance_token": "de0b70ce5d495c7c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67647"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5d652b5c424db42bfda41b3c17bcaf5eed89f82
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 754, "y1": 518, "x2": 1169, "y2": 915, "logit": 0.0, "location": [9.845701097510755, -0.05280638544354588, 0.5592333735839929], "size": [1.9338005781173706, 4.58219575881958, 1.7782648801803589], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 619, "x2": 432, "y2": 1014, "logit": 0.0, "location": [7.863689382560551, 3.753743150504306, 0.3842986110394122], "size": [1.850216031074524, 4.3906073570251465, 1.4746744632720947], "instance_token": "d5f00e18fd8b5d36"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 655, "y1": 531, "x2": 713, "y2": 567, "logit": 0.0, "location": [68.34078721283004, 11.982654262450524, 0.3120766285137506], "size": [1.958269715309143, 4.53328800201416, 1.6895586252212524], "instance_token": "1b49c0cb9fcc56f1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.69317194679752, 16.132525698281825, 0.010062692002975382], "size": [1.9568846225738525, 4.37267541885376, 1.5179336071014404], "instance_token": "4746a0f534c85a4d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 615, "y1": 526, "x2": 659, "y2": 565, "logit": 0.0, "location": [77.24878219980747, 16.342272842884995, 0.24648314266232774], "size": [2.1240482330322266, 4.86815071105957, 1.898679494857788], "instance_token": "05d279b089ec57e6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [68.51173166977242, 19.614819852169603, -0.09573008742881939], "size": [1.990587830543518, 4.618652820587158, 1.6079515218734741], "instance_token": "397fe3dedd3b5cbf"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [77.41207127412781, 19.873492763726972, -0.017449551829486154], "size": [1.8761764764785767, 4.518499374389648, 1.6955273151397705], "instance_token": "dbd2735883ee516e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 557, "x2": 78, "y2": 599, "logit": 0.0, "location": [65.62138410285115, 39.186225542100146, -1.3568446453718934], "size": [2.0015947818756104, 4.991577625274658, 1.7006727457046509], "instance_token": "f6a62ff310d9535c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1158, "y1": 521, "x2": 1256, "y2": 564, "logit": 0.0, "location": [62.38772003445774, -14.441155436914414, 0.787282845529262], "size": [2.0220024585723877, 5.179445266723633, 1.942201852798462], "instance_token": "4fc064ae4cff546c"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [38.83349260175601, 16.720985087100416, -0.036995123999076895], "size": [1.9439722299575806, 4.930093288421631, 1.7059669494628906], "instance_token": "3554fc7d86b758ad"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1403, "y1": 524, "x2": 1556, "y2": 577, "logit": 0.0, "location": [50.994878265075386, -25.52955577033572, 0.9112946643872419], "size": [2.017301559448242, 5.421907901763916, 1.9091016054153442], "instance_token": "1a71dac694b75c78"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 449, "y1": 522, "x2": 624, "y2": 594, "logit": 0.0, "location": [46.559234560932964, -6.5244856246281415, 0.8172478676569881], "size": [2.1293187141418457, 5.491647243499756, 2.0158541202545166], "instance_token": "de0b70ce5d495c7c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "67647"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..574140181fc505af0c1659ee10bb1a5654fbef82
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000003.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6bf63b43354047700a21f78dbeb335b9353e95a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 754, "y1": 518, "x2": 1169, "y2": 915, "logit": 0.0, "location": [9.845701097510755, -0.05280638544354588, 0.5592333735839929], "size": [1.9338005781173706, 4.58219575881958, 1.7782648801803589], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 620, "x2": 431, "y2": 1014, "logit": 0.0, "location": [7.863689382560551, 3.753743150504306, 0.3842986110394122], "size": [1.850216031074524, 4.3906073570251465, 1.4746744632720947], "instance_token": "d5f00e18fd8b5d36"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 656, "y1": 531, "x2": 713, "y2": 567, "logit": 0.0, "location": [68.34078721283004, 11.982654262450524, 0.3120766285137506], "size": [1.958269715309143, 4.53328800201416, 1.6895586252212524], "instance_token": "1b49c0cb9fcc56f1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 562, "y1": 539, "x2": 617, "y2": 571, "logit": 0.0, "location": [67.69317194679752, 16.132525698281825, 0.010062692002975382], "size": [1.9568846225738525, 4.37267541885376, 1.5179336071014404], "instance_token": "4746a0f534c85a4d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 608, "y1": 527, "x2": 658, "y2": 564, "logit": 0.0, "location": [77.24878219980747, 16.342272842884995, 0.24648314266232774], "size": [2.1240482330322266, 4.86815071105957, 1.898679494857788], "instance_token": "05d279b089ec57e6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 486, "y1": 540, "x2": 543, "y2": 574, "logit": 0.0, "location": [68.51173166977242, 19.614819852169603, -0.09573008742881939], "size": [1.990587830543518, 4.618652820587158, 1.6079515218734741], "instance_token": "397fe3dedd3b5cbf"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 540, "y1": 538, "x2": 575, "y2": 569, "logit": 0.0, "location": [77.41207127412781, 19.873492763726972, -0.017449551829486154], "size": [1.8761764764785767, 4.518499374389648, 1.6955273151397705], "instance_token": "dbd2735883ee516e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 42, "y1": 556, "x2": 75, "y2": 590, "logit": 0.0, "location": [65.62138410285115, 39.186225542100146, -1.3568446453718934], "size": [2.0015947818756104, 4.991577625274658, 1.7006727457046509], "instance_token": "f6a62ff310d9535c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1088, "y1": 518, "x2": 1148, "y2": 554, "logit": 0.0, "location": [62.38772003445774, -14.441155436914414, 0.787282845529262], "size": [2.0220024585723877, 5.179445266723633, 1.942201852798462], "instance_token": "4fc064ae4cff546c"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1097, "y1": 524, "x2": 1262, "y2": 579, "logit": 0.0, "location": [50.994878265075386, -25.52955577033572, 0.9112946643872419], "size": [2.017301559448242, 5.421907901763916, 1.9091016054153442], "instance_token": "1a71dac694b75c78"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 555, "x2": 50, "y2": 614, "logit": 0.0, "location": [46.559234560932964, -6.5244856246281415, 0.8172478676569881], "size": [2.1293187141418457, 5.491647243499756, 2.0158541202545166], "instance_token": "de0b70ce5d495c7c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67647"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd16b0081731563620334f0eeabe3280079e7d20
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 754, "y1": 518, "x2": 1169, "y2": 915, "logit": 0.0, "location": [9.845701097510755, -0.05280638544354588, 0.5592333735839929], "size": [1.9338005781173706, 4.58219575881958, 1.7782648801803589], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 620, "x2": 431, "y2": 1014, "logit": 0.0, "location": [7.863689382560551, 3.753743150504306, 0.3842986110394122], "size": [1.850216031074524, 4.3906073570251465, 1.4746744632720947], "instance_token": "d5f00e18fd8b5d36"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 656, "y1": 531, "x2": 712, "y2": 567, "logit": 0.0, "location": [68.34078721283004, 11.982654262450524, 0.3120766285137506], "size": [1.958269715309143, 4.53328800201416, 1.6895586252212524], "instance_token": "1b49c0cb9fcc56f1"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 563, "y1": 539, "x2": 617, "y2": 571, "logit": 0.0, "location": [67.69317194679752, 16.132525698281825, 0.010062692002975382], "size": [1.9568846225738525, 4.37267541885376, 1.5179336071014404], "instance_token": "4746a0f534c85a4d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 608, "y1": 526, "x2": 658, "y2": 564, "logit": 0.0, "location": [77.24878219980747, 16.342272842884995, 0.24648314266232774], "size": [2.1240482330322266, 4.86815071105957, 1.898679494857788], "instance_token": "05d279b089ec57e6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 486, "y1": 540, "x2": 543, "y2": 575, "logit": 0.0, "location": [68.51173166977242, 19.614819852169603, -0.09573008742881939], "size": [1.990587830543518, 4.618652820587158, 1.6079515218734741], "instance_token": "397fe3dedd3b5cbf"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 539, "y1": 538, "x2": 574, "y2": 571, "logit": 0.0, "location": [77.41207127412781, 19.873492763726972, -0.017449551829486154], "size": [1.8761764764785767, 4.518499374389648, 1.6955273151397705], "instance_token": "dbd2735883ee516e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 557, "x2": 78, "y2": 592, "logit": 0.0, "location": [65.62138410285115, 39.186225542100146, -1.3568446453718934], "size": [2.0015947818756104, 4.991577625274658, 1.7006727457046509], "instance_token": "f6a62ff310d9535c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 1104, "y1": 517, "x2": 1174, "y2": 541, "logit": 0.0, "location": [62.38772003445774, -14.441155436914414, 0.787282845529262], "size": [2.0220024585723877, 5.179445266723633, 1.942201852798462], "instance_token": "4fc064ae4cff546c"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1054, "y1": 523, "x2": 1199, "y2": 588, "logit": 0.0, "location": [50.994878265075386, -25.52955577033572, 0.9112946643872419], "size": [2.017301559448242, 5.421907901763916, 1.9091016054153442], "instance_token": "1a71dac694b75c78"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.559234560932964, -6.5244856246281415, 0.8172478676569881], "size": [2.1293187141418457, 5.491647243499756, 2.0158541202545166], "instance_token": "de0b70ce5d495c7c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "67647"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..a632285fc5122a83c411cbd3ae53312db7a73366
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..10d03c4b1bb6c6688969113267aa825414d49635
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000007.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e7cdd65a543fea733780fd44a189e411b363324
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 754, "y1": 519, "x2": 1168, "y2": 912, "logit": 0.0, "location": [9.845701097510755, -0.05280638544354588, 0.5592333735839929], "size": [1.9338005781173706, 4.58219575881958, 1.7782648801803589], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 620, "x2": 430, "y2": 1014, "logit": 0.0, "location": [7.863689382560551, 3.753743150504306, 0.3842986110394122], "size": [1.850216031074524, 4.3906073570251465, 1.4746744632720947], "instance_token": "d5f00e18fd8b5d36"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 654, "y1": 531, "x2": 711, "y2": 567, "logit": 0.0, "location": [68.34078721283004, 11.982654262450524, 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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..485c566b7463a2cf8aaa69d742b20ad249c77ccb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000009.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea1d34fcf66b094daa8c9aff6e15a036f3575c1b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000010.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..944d380878adee61829d4566ced880ff1cb6416c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000011.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d0197068f57397b590574337b4d3b988082084
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000012.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000013.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/json_data/mask_000014.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/prompt.txt
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index 0000000000000000000000000000000000000000..c4e295aaaec9803e924641a3d305ddf727c8bbf9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -106.41, -60.09, -153.06, -43.7
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/response.txt
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index 0000000000000000000000000000000000000000..45bc52d824cab55a04a1b98059ac325817ce3e6c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000006/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no lane changes at intersections, obey speed limits.
+
+- **Notable Objects:**
+  - Object (ID 3): Vehicle (taxi) in front, white color, stopped at red light.
+    - Potential Effects: Blocking the path, requiring a stop.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object (ID 12): Vehicle on the left, black color.
+    - Potential Effects: Potential lane change or turn.
+    - Future Behavior: May move forward or turn left when the light changes.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** A deceleration to zero
+  - **Explanation:** The ego car stopped due to the red traffic light ahead.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; solid lines indicate no lane change allowed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green. The vehicle in front (ID 3) is also stopped.
+- **Driving Plan:** Maintain current position and wait for the light to change. Monitor vehicles ID 3 and ID 12.
+
+*****Reflection:*****
+- **Self-Consistency:** The current plan is consistent with the scene understanding and notable objects. No lane changes or movements are required due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/prompt.txt
new file mode 100644
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -43.7, -135.5, -72.51, -81.51
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36ce71836398bbdab126b416d7cbe580030ebd95
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_0/result/output_000012/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no lane changes at intersections, obey speed limits.
+
+- **Notable Objects:**
+  - Object 1 (ID: 14): White car in front, stopped at the red light.
+    - Potential Effects: Blocking the path, requiring a stop.
+    - Future Behavior: Remain stopped until the light turns green.
+  - Object 2 (ID: 3): Black car to the left, also stopped.
+    - Potential Effects: No immediate effect, but may move when the light changes.
+    - Future Behavior: Likely to move forward when the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** Stopped
+  - **Past Speed adjustment:** Deceleration to zero
+  - **Explanation:** The ego car stopped due to the red traffic light and the vehicle in front.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; no lane changes allowed at the intersection.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red light and the stopped vehicle ahead necessitate stopping.
+- **Driving Plan:** Maintain position until the light changes. Monitor Object 1 (ID: 14).
+
+*****Reflection:*****
+- **Self-Consistency:** The analysis and planning are consistent with the current traffic situation.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..58155c90434fb052f1c611212e425399dbe5f7a4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 986, "y1": 513, "x2": 1063, "y2": 585, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 731, "y1": 531, "x2": 880, "y2": 646, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 884, "y1": 522, "x2": 950, "y2": 574, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..f700dab8569d77a07a313cda0759d3e732d4d6fc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 989, "y1": 513, "x2": 1063, "y2": 584, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 750, "y1": 530, "x2": 891, "y2": 640, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 892, "y1": 522, "x2": 954, "y2": 572, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d084a43897a4c6585aa765e7e4b671ca94b69ab
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 989, "y1": 513, "x2": 1062, "y2": 582, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 766, "y1": 529, "x2": 898, "y2": 635, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 896, "y1": 523, "x2": 956, "y2": 571, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee5b163983bca6ae9d02f9fb8a2c1b9fb3a2ba2e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 988, "y1": 513, "x2": 1058, "y2": 580, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 778, "y1": 528, "x2": 902, "y2": 627, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 898, "y1": 522, "x2": 957, "y2": 568, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacee83f792d9327dda4e289b8d5063d097c8412
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 986, "y1": 514, "x2": 1055, "y2": 577, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 787, "y1": 527, "x2": 905, "y2": 621, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 901, "y1": 523, "x2": 955, "y2": 565, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 93, "y1": 532, "x2": 373, "y2": 572, "logit": 0.0, "location": [38.870191836263984, 17.1884692600579, 0.4917426959218574], "size": [1.955803632736206, 8.604594230651855, 1.794407844543457], "instance_token": "91d3542f79cf5eb0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b4638f4c047843b4d07221d9f7a8b419087c2a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 981, "y1": 513, "x2": 1048, "y2": 575, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 795, "y1": 526, "x2": 904, "y2": 615, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 901, "y1": 522, "x2": 953, "y2": 564, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 58, "y1": 537, "x2": 209, "y2": 577, "logit": 0.0, "location": [38.870191836263984, 17.1884692600579, 0.4917426959218574], "size": [1.955803632736206, 8.604594230651855, 1.794407844543457], "instance_token": "91d3542f79cf5eb0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef2ab26c63e57dffb17b61c2b7d78029088bfaa
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 979, "y1": 515, "x2": 1049, "y2": 578, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 802, "y1": 528, "x2": 905, "y2": 612, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 905, "y1": 524, "x2": 953, "y2": 565, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 563, "x2": 9, "y2": 586, "logit": 0.0, "location": [38.870191836263984, 17.1884692600579, 0.4917426959218574], "size": [1.955803632736206, 8.604594230651855, 1.794407844543457], "instance_token": "91d3542f79cf5eb0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4fd73592391883400fb360d7456c25eaf804bc9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 977, "y1": 518, "x2": 1041, "y2": 578, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 807, "y1": 530, "x2": 905, "y2": 611, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 905, "y1": 527, "x2": 953, "y2": 566, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [38.870191836263984, 17.1884692600579, 0.4917426959218574], "size": [1.955803632736206, 8.604594230651855, 1.794407844543457], "instance_token": "91d3542f79cf5eb0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..dac50e70d765dcd767460b882758a20b35b3f3da
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 974, "y1": 522, "x2": 1035, "y2": 579, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 811, "y1": 533, "x2": 903, "y2": 607, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 904, "y1": 530, "x2": 951, "y2": 566, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd1304712930b9060375c2330181880a031736a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 970, "y1": 521, "x2": 1032, "y2": 578, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 813, "y1": 531, "x2": 901, "y2": 603, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 905, "y1": 528, "x2": 951, "y2": 564, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9629959bdf31103bf0c799ae97d8ccc356c3bff
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 970, "y1": 521, "x2": 1030, "y2": 577, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 816, "y1": 532, "x2": 899, "y2": 600, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 909, "y1": 527, "x2": 953, "y2": 563, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f391c06e78c492b3fc3df1caf00ed60fe17f27b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 970, "y1": 521, "x2": 1030, "y2": 577, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 822, "y1": 532, "x2": 901, "y2": 597, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 914, "y1": 528, "x2": 958, "y2": 562, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfa9c47bbd3c02e7db3ab5e98ac5146bd6aa5c01
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 975, "y1": 523, "x2": 1035, "y2": 576, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 831, "y1": 534, "x2": 906, "y2": 595, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 922, "y1": 530, "x2": 965, "y2": 561, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 486, "y1": 530, "x2": 570, "y2": 576, "logit": 0.0, "location": [65.12148955650628, 18.25212504900992, -0.1687043634155998], "size": [1.9777276515960693, 5.466366767883301, 2.00127911567688], "instance_token": "c32c2771a7c25ad6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e1fd7e128d09145d4aad3d4a16b072f39c4bd1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 980, "y1": 519, "x2": 1041, "y2": 575, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 840, "y1": 530, "x2": 913, "y2": 590, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 932, "y1": 525, "x2": 974, "y2": 558, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 489, "y1": 524, "x2": 536, "y2": 572, "logit": 0.0, "location": [65.12148955650628, 18.25212504900992, -0.1687043634155998], "size": [1.9777276515960693, 5.466366767883301, 2.00127911567688], "instance_token": "c32c2771a7c25ad6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67470"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..c157ed81a97e4e5f9694d02a13ceda615fd5d20f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 982, "y1": 515, "x2": 1043, "y2": 573, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 847, "y1": 527, "x2": 918, "y2": 584, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 936, "y1": 522, "x2": 977, "y2": 555, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 291, "y1": 525, "x2": 506, "y2": 601, "logit": 0.0, "location": [65.12148955650628, 18.25212504900992, -0.1687043634155998], "size": [1.9777276515960693, 5.466366767883301, 2.00127911567688], "instance_token": "c32c2771a7c25ad6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67470"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f0d62f89a7254c0a205ea2bad53f62441fdf1a3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 978, "y1": 521, "x2": 1042, "y2": 580, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 849, "y1": 532, "x2": 918, "y2": 588, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 936, "y1": 527, "x2": 976, "y2": 560, "logit": 0.0, "location": [50.82584619522095, 1.3704260105732828, 0.5605428463895805], "size": [2.000394582748413, 4.470740795135498, 1.6908615827560425], "instance_token": "b159e6a3630e59a6"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 121, "y1": 531, "x2": 532, "y2": 623, "logit": 0.0, "location": [65.12148955650628, 18.25212504900992, -0.1687043634155998], "size": [1.9777276515960693, 5.466366767883301, 2.00127911567688], "instance_token": "c32c2771a7c25ad6"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67470"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..572a0ea7952b685b07e3536f6a9356bb6feb4c0b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 969, "y1": 521, "x2": 1040, "y2": 583, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 848, "y1": 532, "x2": 915, "y2": 586, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..e04e544c3824c0053d1c1859689471b45f6e07f5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 961, "y1": 516, "x2": 1033, "y2": 582, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 848, "y1": 527, "x2": 912, "y2": 579, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 13, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb3bb1a9c41d008c9c647f0520e4906e35be281
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 955, "y1": 513, "x2": 1031, "y2": 584, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 851, "y1": 526, "x2": 915, "y2": 577, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 15, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5c7bf867eda9845687127abfd60c04c1e0a6d54
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 957, "y1": 508, "x2": 1040, "y2": 585, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 865, "y1": 520, "x2": 930, "y2": 570, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 15, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..250dacc9b56d5683e4d647ce1726adbd6ac05a27
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 957, "y1": 510, "x2": 1048, "y2": 595, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 879, "y1": 523, "x2": 940, "y2": 570, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 204, "y1": 554, "x2": 385, "y2": 610, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 293, "y1": 554, "x2": 389, "y2": 610, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 529, "y1": 532, "x2": 600, "y2": 576, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 15, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e8377a704ed75c48c0e9bd1b94fb235ed6ecf39
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 960, "y1": 508, "x2": 1059, "y2": 603, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 895, "y1": 520, "x2": 953, "y2": 567, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 84, "y1": 567, "x2": 207, "y2": 628, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 87, "y1": 567, "x2": 208, "y2": 628, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 430, "y1": 536, "x2": 519, "y2": 586, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..5089c49b11a587d954c87fd70fdd2ada8da3e3db
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 960, "y1": 508, "x2": 1070, "y2": 614, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 908, "y1": 520, "x2": 960, "y2": 566, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 292, "y1": 543, "x2": 404, "y2": 603, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "67537"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..42fee25b12e1000144da2d511a83bdd44c55eb73
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 960, "y1": 509, "x2": 1082, "y2": 627, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 919, "y1": 520, "x2": 963, "y2": 566, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 94, "y1": 551, "x2": 244, "y2": 626, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "67537"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..8799c48257c72db23ad9bddd1638ae342a727056
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 961, "y1": 500, "x2": 1096, "y2": 631, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 926, "y1": 511, "x2": 969, "y2": 556, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 604, "x2": 5, "y2": 624, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "67537"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..13fd9433e202bd69908df0030baf2ef2ebca01b1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 959, "y1": 509, "x2": 1113, "y2": 658, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 937, "y1": 523, "x2": 975, "y2": 568, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "67440"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd0c17d7219e886b4bdafa771399613a0ce3eb95
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 954, "y1": 508, "x2": 1123, "y2": 671, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 939, "y1": 522, "x2": 972, "y2": 567, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..da823b98cf2a4657e68dc3814a27df8f03657460
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 951, "y1": 499, "x2": 1135, "y2": 676, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 943, "y1": 514, "x2": 972, "y2": 557, "logit": 0.0, "location": [24.86969744414091, 2.2397873162990436, 0.5099289302452235], "size": [1.996633529663086, 4.720525741577148, 1.8378965854644775], "instance_token": "879e1fa2aff456ac"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [39.801548823714256, 16.840542566322256, -0.2055110141664045], "size": [1.9192134141921997, 4.944233417510986, 1.6202841997146606], "instance_token": "9b322e8fb2dd537a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.09962106635794, 20.032071629626444, -0.2504027621689602], "size": [2.012317180633545, 5.3639140129089355, 1.9915354251861572], "instance_token": "d4f42f7306a657ed"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [68.70972692035139, 17.75064280864899, 0.13595722548052436], "size": [2.1372740268707275, 5.666520595550537, 2.309549331665039], "instance_token": "243ce7f1427d5a19"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f1929a1934c567ea1b7f86efbf5e7aac651a2a5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 946, "y1": 507, "x2": 1143, "y2": 693, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 587, "x2": 220, "y2": 1079, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 203, "y1": 572, "x2": 533, "y2": 741, "logit": 0.0, "location": [16.185497026424855, 5.476619263674365, 0.2603178091230802], "size": [1.8712424039840698, 5.1458282470703125, 1.5148732662200928], "instance_token": "bfc2616e38c55db9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a42e49e1f2fa25f91ab7eda3a74e237e9ce70c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 942, "y1": 508, "x2": 1146, "y2": 700, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 567, "x2": 478, "y2": 1079, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 395, "y1": 561, "x2": 627, "y2": 693, "logit": 0.0, "location": [16.185497026424855, 5.476619263674365, 0.2603178091230802], "size": [1.8712424039840698, 5.1458282470703125, 1.5148732662200928], "instance_token": "bfc2616e38c55db9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..a70f44fc5728fd28ee90bbdcd8346d7ca89b7240
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 939, "y1": 508, "x2": 1147, "y2": 705, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 548, "x2": 641, "y2": 1016, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 530, "y1": 555, "x2": 692, "y2": 659, "logit": 0.0, "location": [16.185497026424855, 5.476619263674365, 0.2603178091230802], "size": [1.8712424039840698, 5.1458282470703125, 1.5148732662200928], "instance_token": "bfc2616e38c55db9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb378707d84eaa4423102409e6773a7f25ed611d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 939, "y1": 507, "x2": 1146, "y2": 703, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 16, "y1": 534, "x2": 733, "y2": 843, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 654, "y1": 545, "x2": 742, "y2": 623, "logit": 0.0, "location": [16.185497026424855, 5.476619263674365, 0.2603178091230802], "size": [1.8712424039840698, 5.1458282470703125, 1.5148732662200928], "instance_token": "bfc2616e38c55db9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee4d7598829e6412864e5be5f9af8ba2af4955d1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 937, "y1": 515, "x2": 1138, "y2": 706, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 451, "y1": 535, "x2": 788, "y2": 771, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..440c328a8fec35cab8d321f9d3db020adac6e655
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 930, "y1": 518, "x2": 1123, "y2": 701, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 561, "y1": 534, "x2": 819, "y2": 717, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"58": {"instance_id": 58, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "60": {"instance_id": 60, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..535d841e7f476ea11697882d241378732110ca38
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 920, "y1": 523, "x2": 1106, "y2": 699, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 622, "y1": 537, "x2": 834, "y2": 692, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..c60d64892d6d4ee800ba4f12c80295a2291b1ccc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 909, "y1": 524, "x2": 1091, "y2": 696, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 656, "y1": 538, "x2": 843, "y2": 674, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "40"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e808e32b2df9bd1a1332dffe4fb7c899bb6b88b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 901, "y1": 519, "x2": 1079, "y2": 689, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 681, "y1": 537, "x2": 848, "y2": 661, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 683, "x2": 271, "y2": 1079, "logit": 0.0, "location": [3.6722105336375535, 3.175619513858692, 0.6167585160037561], "size": [2.1636929512023926, 6.320417404174805, 2.053171157836914], "instance_token": "3ad9b80503de5b88"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "67265"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000037.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d2c02e7401f0bdd977522a4aa594073ed7a63d4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000037.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000037.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 895, "y1": 517, "x2": 1076, "y2": 687, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 702, "y1": 534, "x2": 859, "y2": 654, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 531, "x2": 409, "y2": 1079, "logit": 0.0, "location": [3.6722105336375535, 3.175619513858692, 0.6167585160037561], "size": [2.1636929512023926, 6.320417404174805, 2.053171157836914], "instance_token": "3ad9b80503de5b88"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "63": {"instance_id": 63, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67265"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000038.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..65dba62c737a6dad5b3f0a77af2746dfd1ffee60
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000038.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000038.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 882, "y1": 510, "x2": 1063, "y2": 682, "logit": 0.0, "location": [44.70998698938638, -1.6953709358349442, 0.7842713857316994], "size": [2.2167067527770996, 5.196331977844238, 2.0892510414123535], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 709, "y1": 528, "x2": 859, "y2": 641, "logit": 0.0, "location": [3.010515340603888, 2.957601954956772, 0.5582823802542407], "size": [2.0437097549438477, 5.600122928619385, 1.9035762548446655], "instance_token": "192dcf147cf552b3"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 516, "x2": 492, "y2": 1079, "logit": 0.0, "location": [3.6722105336375535, 3.175619513858692, 0.6167585160037561], "size": [2.1636929512023926, 6.320417404174805, 2.053171157836914], "instance_token": "3ad9b80503de5b88"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "50"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000039.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/json_data/mask_000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..03ea5a3c946d07ff91653b19640b3b8fc414b97b
--- /dev/null
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/prompt.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.74, 9.87, 9.77, 9.61]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.23, -0.96, -1.22, -1.28
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/response.txt
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index 0000000000000000000000000000000000000000..0e874af9ff0bbd68bc039a388188dc5a1bab2c38
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000006/response.txt
@@ -0,0 +1,45 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, black color
+    - Potential Effects: May slow down traffic if moving slowly
+    - Future Behavior: Likely to continue moving forward
+  - Object 2: Vehicle in the same lane, red color
+    - Potential Effects: May require maintaining distance
+    - Future Behavior: Likely to continue moving forward
+  - Object 4: Vehicle in the adjacent lane, yellow color
+    - Potential Effects: May change lanes or maintain current path
+    - Future Behavior: Likely to continue moving forward
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear traffic conditions.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and maintaining a constant speed is appropriate given the current traffic conditions.
+- **Driving Plan:** Continue moving forward while monitoring vehicles 1 and 2.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.61, 9.85, 9.8, 10.25]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.28, -1.18, -1.15, -1.03
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/response.txt
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index 0000000000000000000000000000000000000000..767febfcb1be38affe8df9ce4f5191255153f212
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000012/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right side, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, black color
+    - Potential Effects: May slow down or stop, affecting the ego car's speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle in the adjacent lane, black color
+    - Potential Effects: May change lanes or maintain its path.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the vehicles in front are maintaining their lanes without any immediate threat.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring the vehicles (Object 1 and Object 2) for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7de94b001d65612470159f6c8b3983f00e3881a3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c399a891e7140fa0742d6dbaeac5692509c1c5309c5093948141c5f4353c261d
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9da27d7b6888114c748e79617e42c800dc4e8a1f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b21f6b96f36ff9ec330c349a21a0fc96fbfc7f267de7a3af67ec0d09243abd2
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a939383c8db39411659e535b88b6567da8bc6daa
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [10.25, 10.37, 10.57, 10.56]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.03, -1.19, -1.13, -1.19
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..034dc5f6a17b1b8c1bcb6a07d1bb2f85d8c25ef4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000018/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, maintain lane discipline, and obey speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the right lane, black color
+    - Potential Effects: May slow down or stop, affecting the driving route.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle in the left lane, gray color
+    - Potential Effects: May slow down or stop, affecting the driving route.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The road is clear, and there are no immediate obstacles or traffic lights.
+  - **Lane Association:**
+    - Current lane number: 2 (middle lane)
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the vehicles in front are maintaining their lanes without any indication of stopping or turning.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 1 and 2.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..dd60ff855e64b0c0ffca1160bb39622065c753e9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424a5717238b19a8d404c14c45847a063dd762cb7fe2d7de5614ad762bfdcdf8
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a37a2f63c0bea8af3f070fad7d15da7789cf44a9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4c2bc591fde3b0a1386d0d509d133c4633a39372b3f6e1eba32363869ccace
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8828df62bd62882ba2a840fee0de2bad10f99571
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [10.56, 10.07, 9.02, 8.11]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.19, -1.28, -1.09, -1.31
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5e19c17ecfc88f88f79ca21b1328cbbf97088d94
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000024/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, maintain lane discipline, and observe speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, black color
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 8: Vehicle in the left lane, green color
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane: Rightmost lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the vehicles in front are moving, allowing us to maintain our current speed.
+- **Driving Plan:** Continue moving forward at a constant speed, keeping an eye on Object 1 for any changes in speed.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "1"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7a6877552f70d73fe735869d6801d56a9f59c829
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1ca5b18b482a59f0fb1b00b4e6cd139c38f06680ce457c974db6283755b3af
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0d3025fdfe311600ed717e4662f7d5dfab9e7117
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64af1647e9198ce7f7d9416728b875e037c3ca628d397684dd5c9a78b38f990c
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e06a6d10ee58835d5d5387c67af4d160c8b3ee1a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.11, 6.97, 5.83, 5.49]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.31, -1.16, -1.12, -1.09
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc835ea350f9843dc02d90f3c53fda77aaf6c5ed
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey speed limits, and maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red, in the same lane)
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 9: Vehicle (black, left lane)
+    - Potential Effects: May change lanes or maintain current path.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 10: Vehicle (blue, right lane)
+    - Potential Effects: May change lanes or maintain current path.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane changes possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the vehicles in adjacent lanes are not posing immediate threats. Maintaining current speed is optimal.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring Object 1 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The plan to move forward at a constant speed is consistent with the current road conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a98b3140f201f8b648178e62aa70ee85f6f69
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffdab9d5181b6908ef97b420fc59bc6d4eaa32ab3627e69453b12b553478eccf
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4a357116795b2f660974c913100771605266ce00
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f24371949e20c7a9ceb50d5f913f99d8404dcdee9a7c195db68d5e6193261743
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..702bdab15ace60c45fc5f692dabab7791316bc3e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [5.49, 5.23, 6.08, 7.94]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.09, -1.0, -1.18, -1.43
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a1175c6634376367c4342d49df5eb147df8771c2
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_12/result/output_000036/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and follow traffic signals.
+
+- **Notable Objects:**
+  - Object (ID 9): White vehicle in the left lane
+    - Potential Effects: May affect lane change or overtaking decisions.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 1): Black vehicle in the right lane
+    - Potential Effects: Directly in front of the ego vehicle, affecting speed and lane decisions.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego vehicle maintained a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane: Right lane
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and the vehicles ahead are moving, allowing the ego vehicle to maintain its current speed and lane.
+- **Driving Plan:** Continue moving forward at a constant speed, keeping an eye on vehicles ID 9 and ID 1.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego vehicle can continue moving forward without any lane changes or speed adjustments.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f07ca9dec3f4eb7dfeac9a12fe789a5ad45111
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 939, "y1": 515, "x2": 998, "y2": 569, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 556, "x2": 124, "y2": 657, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 532, "x2": 225, "y2": 644, "logit": 0.0, "location": [31.318961078766733, 16.257593299727887, 0.39436247368576005], "size": [1.8847583532333374, 4.702827453613281, 1.7808637619018555], "instance_token": "0ee492a6d1075f10"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 181, "y1": 523, "x2": 366, "y2": 626, "logit": 0.0, "location": [29.146701737772673, 13.005061724456027, 0.48911903085536323], "size": [2.0691323280334473, 5.744753837585449, 1.869027018547058], "instance_token": "9901379cb87c502a"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 481, "y1": 532, "x2": 566, "y2": 588, "logit": 0.0, "location": [45.318539936095476, 12.612291038036346, 0.3426439620234305], "size": [1.86038076877594, 4.849534511566162, 1.7536594867706299], "instance_token": "df5bebade9785def"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63244"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..c751fc5e9c7986a64d975ad14391ef62c9d64862
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 936, "y1": 515, "x2": 994, "y2": 569, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 567, "x2": 21, "y2": 628, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 535, "x2": 81, "y2": 626, "logit": 0.0, "location": [31.318961078766733, 16.257593299727887, 0.39436247368576005], "size": [1.8847583532333374, 4.702827453613281, 1.7808637619018555], "instance_token": "0ee492a6d1075f10"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 18, "y1": 523, "x2": 408, "y2": 640, "logit": 0.0, "location": [29.146701737772673, 13.005061724456027, 0.48911903085536323], "size": [2.0691323280334473, 5.744753837585449, 1.869027018547058], "instance_token": "9901379cb87c502a"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 56, "y1": 532, "x2": 494, "y2": 584, "logit": 0.0, "location": [45.318539936095476, 12.612291038036346, 0.3426439620234305], "size": [1.86038076877594, 4.849534511566162, 1.7536594867706299], "instance_token": "df5bebade9785def"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "63244"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b6110dea83b8c489cdec255fa2818f19486d2d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 932, "y1": 518, "x2": 988, "y2": 571, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.318961078766733, 16.257593299727887, 0.39436247368576005], "size": [1.8847583532333374, 4.702827453613281, 1.7808637619018555], "instance_token": "0ee492a6d1075f10"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 26, "y1": 507, "x2": 76, "y2": 576, "logit": 0.0, "location": [29.146701737772673, 13.005061724456027, 0.48911903085536323], "size": [2.0691323280334473, 5.744753837585449, 1.869027018547058], "instance_token": "9901379cb87c502a"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.318539936095476, 12.612291038036346, 0.3426439620234305], "size": [1.86038076877594, 4.849534511566162, 1.7536594867706299], "instance_token": "df5bebade9785def"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63244"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..72e98187d318e27bac58d94b7796ef459832f5b6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 929, "y1": 516, "x2": 985, "y2": 569, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [31.318961078766733, 16.257593299727887, 0.39436247368576005], "size": [1.8847583532333374, 4.702827453613281, 1.7808637619018555], "instance_token": "0ee492a6d1075f10"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.146701737772673, 13.005061724456027, 0.48911903085536323], "size": [2.0691323280334473, 5.744753837585449, 1.869027018547058], "instance_token": "9901379cb87c502a"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.318539936095476, 12.612291038036346, 0.3426439620234305], "size": [1.86038076877594, 4.849534511566162, 1.7536594867706299], "instance_token": "df5bebade9785def"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..38c4358d94708a1611e95e90af28944f283c66a6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 929, "y1": 518, "x2": 983, "y2": 569, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff9d92b9f2ca9060f3ca3717af539b6fb6c58a5f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 936, "y1": 521, "x2": 989, "y2": 571, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 2, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa647e3cbdd4aa7d2104606d9792442fcc4108cb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 941, "y1": 517, "x2": 996, "y2": 568, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..03e654c7652ea402c3796becbef9c60954b63461
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 949, "y1": 516, "x2": 1001, "y2": 564, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [20.886212751735002, 12.6924424697645, 0.2473740091882064], "size": [1.835542917251587, 4.493524551391602, 1.519049048423767], "instance_token": "aeddf1cd937f519e"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..0310763205fb07cc250abd84df77ac94e8eb46d4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000008.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..b229849157b8b2e56564e55c56761cc0a48a60e3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 961, "y1": 522, "x2": 1015, "y2": 572, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 645, "y1": 530, "x2": 701, "y2": 572, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 280, "y1": 542, "x2": 382, "y2": 600, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 509, "y1": 527, "x2": 593, "y2": 580, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 760, "y1": 523, "x2": 814, "y2": 564, "logit": 0.0, "location": [78.1263312548399, 7.951392229879275, 0.673823050732608], "size": [2.24566912651062, 5.4643144607543945, 2.075024366378784], "instance_token": "2fa0b94ee0315ca9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67259"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..35986a362c14c8538bf84d69560247ee366fe17f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 962, "y1": 513, "x2": 1021, "y2": 562, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 607, "y1": 523, "x2": 666, "y2": 569, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 13, "y1": 540, "x2": 164, "y2": 620, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 379, "y1": 521, "x2": 489, "y2": 586, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 739, "y1": 513, "x2": 798, "y2": 557, "logit": 0.0, "location": [78.1263312548399, 7.951392229879275, 0.673823050732608], "size": [2.24566912651062, 5.4643144607543945, 2.075024366378784], "instance_token": "2fa0b94ee0315ca9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67259"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac21f92c935cdbcbb104323842af8ef64b5d533e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 965, "y1": 519, "x2": 1020, "y2": 568, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 562, "y1": 523, "x2": 643, "y2": 576, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 179, "y1": 528, "x2": 336, "y2": 615, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 709, "y1": 517, "x2": 773, "y2": 566, "logit": 0.0, "location": [78.1263312548399, 7.951392229879275, 0.673823050732608], "size": [2.24566912651062, 5.4643144607543945, 2.075024366378784], "instance_token": "2fa0b94ee0315ca9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67259"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56599b65b32e8358554a1bad6c7299400b78a7b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 964, "y1": 521, "x2": 1018, "y2": 568, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 474, "y1": 528, "x2": 591, "y2": 586, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 532, "x2": 78, "y2": 640, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..4864c4c2fe83a9f307fa413a48c4a1c641b81a65
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 960, "y1": 524, "x2": 1013, "y2": 572, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 417, "y1": 532, "x2": 531, "y2": 602, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..d17b8abf76a2f4d28c260c99aed3cb5fac2ba2af
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 959, "y1": 516, "x2": 1009, "y2": 563, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 309, "y1": 526, "x2": 447, "y2": 609, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f148a3bd40e3fb9f25407ad99f6d291ab80264
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 959, "y1": 515, "x2": 1009, "y2": 563, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 162, "y1": 530, "x2": 342, "y2": 631, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [71.67488370463252, 15.40575262508355, 0.21058679284033133], "size": [2.1614890098571777, 6.264289855957031, 1.8247750997543335], "instance_token": "7d39afd2958b5da7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8abe4e216b5e0c3564579f6d9dcaa9d255e6176
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 961, "y1": 517, "x2": 1011, "y2": 563, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 535, "x2": 188, "y2": 654, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 384, "y1": 515, "x2": 555, "y2": 618, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 184, "y1": 539, "x2": 388, "y2": 619, "logit": 0.0, "location": [28.669158012606204, 12.200105086434633, 0.429263118399831], "size": [1.9859949350357056, 4.75221061706543, 1.5654090642929077], "instance_token": "9b28060fef4a5d7e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1056, "y1": 520, "x2": 1140, "y2": 569, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..be296fa7ef399f1afd486a8ccedf40d8c6723955
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 962, "y1": 509, "x2": 1012, "y2": 557, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 228, "y1": 510, "x2": 455, "y2": 639, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 57, "y1": 541, "x2": 230, "y2": 640, "logit": 0.0, "location": [28.669158012606204, 12.200105086434633, 0.429263118399831], "size": [1.9859949350357056, 4.75221061706543, 1.5654090642929077], "instance_token": "9b28060fef4a5d7e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1066, "y1": 513, "x2": 1160, "y2": 568, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..828305ba09746d3dc2f65289ca1a03fdb95f94c5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 963, "y1": 511, "x2": 1013, "y2": 559, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 513, "x2": 308, "y2": 687, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.669158012606204, 12.200105086434633, 0.429263118399831], "size": [1.9859949350357056, 4.75221061706543, 1.5654090642929077], "instance_token": "9b28060fef4a5d7e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1084, "y1": 515, "x2": 1186, "y2": 576, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec03efde1bac3fc7210cd3371e20a4bfc8ff2ca
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 963, "y1": 511, "x2": 1011, "y2": 556, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 581, "x2": 57, "y2": 719, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.669158012606204, 12.200105086434633, 0.429263118399831], "size": [1.9859949350357056, 4.75221061706543, 1.5654090642929077], "instance_token": "9b28060fef4a5d7e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1112, "y1": 513, "x2": 1224, "y2": 581, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ebc3f695eefe1da482c713f47c3de0ab9948d3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 959, "y1": 513, "x2": 1008, "y2": 557, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1155, "y1": 511, "x2": 1297, "y2": 587, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a9c38012d90c5afb01fc43f02441dd451fd9216
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 953, "y1": 509, "x2": 1001, "y2": 554, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1221, "y1": 501, "x2": 1385, "y2": 592, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63215"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..11fbb6e400044b52bdacb432f47a0db2179440dc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 944, "y1": 510, "x2": 990, "y2": 554, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1324, "y1": 505, "x2": 1504, "y2": 605, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63215"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fb3034d7b156cb2500fc0ea7ad192cfceaf5436
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 937, "y1": 521, "x2": 981, "y2": 564, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [69.4461802081205, 11.586942245718092, 0.32668756338534877], "size": [2.0373740196228027, 4.676452159881592, 1.7241573333740234], "instance_token": "d974309e4975577e"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1482, "y1": 508, "x2": 1685, "y2": 622, "logit": 0.0, "location": [60.168576824478805, -5.260158999823034, 0.7530010407353984], "size": [2.330986261367798, 5.779567718505859, 2.0848119258880615], "instance_token": "e02af4ecb2ba5677"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63215"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..13fb973d87c19a8f5637fdae28fcab30c6cd626b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 930, "y1": 523, "x2": 975, "y2": 563, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1816, "y1": 510, "x2": 1919, "y2": 632, "logit": 0.0, "location": [22.64201462082565, -13.816817557206377, 1.052480175094388], "size": [2.2996490001678467, 5.971567630767822, 2.07847261428833], "instance_token": "e02af4ecb2ba5677"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 578, "y1": 525, "x2": 650, "y2": 582, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63215"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b6a4511e6be18884dfa12392ac51879f41ff801
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 929, "y1": 517, "x2": 976, "y2": 560, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [22.64201462082565, -13.816817557206377, 1.052480175094388], "size": [2.2996490001678467, 5.971567630767822, 2.07847261428833], "instance_token": "e02af4ecb2ba5677"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 521, "y1": 523, "x2": 611, "y2": 589, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67282"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb27c216277597ad7e4c4126ad300108eec0ba94
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000026.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..def349f54532b7fb07d3b4c089db4aa0c56f8b4a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 936, "y1": 513, "x2": 979, "y2": 554, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [22.64201462082565, -13.816817557206377, 1.052480175094388], "size": [2.2996490001678467, 5.971567630767822, 2.07847261428833], "instance_token": "e02af4ecb2ba5677"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 336, "y1": 518, "x2": 490, "y2": 615, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63151"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba3499d8233c4f995e6de12e06f2d5d5bc76048
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 937, "y1": 514, "x2": 981, "y2": 554, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 187, "y1": 529, "x2": 385, "y2": 641, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 866, "y1": 519, "x2": 910, "y2": 552, "logit": 0.0, "location": [76.19249586109072, 3.5458653506357223, 0.7591898311293335], "size": [2.099935293197632, 4.631925582885742, 1.7423553466796875], "instance_token": "766425f6b0bb5fdb"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "63151"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..9df57fcff916213ec6f8644279edf725677a29b6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 937, "y1": 515, "x2": 980, "y2": 555, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 539, "x2": 230, "y2": 685, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 864, "y1": 520, "x2": 908, "y2": 555, "logit": 0.0, "location": [76.19249586109072, 3.5458653506357223, 0.7591898311293335], "size": [2.099935293197632, 4.631925582885742, 1.7423553466796875], "instance_token": "766425f6b0bb5fdb"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"31": {"instance_id": 31, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "31"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..98265d8ab2e236f12e1a5446cca40cd36ea3443b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 931, "y1": 512, "x2": 977, "y2": 555, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 855, "y1": 520, "x2": 904, "y2": 556, "logit": 0.0, "location": [76.19249586109072, 3.5458653506357223, 0.7591898311293335], "size": [2.099935293197632, 4.631925582885742, 1.7423553466796875], "instance_token": "766425f6b0bb5fdb"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63173"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..c049b6960001cae05b69f5bfb41d2fd6b83fd667
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 928, "y1": 511, "x2": 974, "y2": 556, "logit": 0.0, "location": [57.99889056896791, -0.19435817189514637, 0.815970167699561], "size": [2.2355830669403076, 5.415613651275635, 2.1053764820098877], "instance_token": "67e7699a0e16548a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.05051759444177, 18.662334818392992, -0.00316094679874368], "size": [1.9701920747756958, 5.270174980163574, 1.7746496200561523], "instance_token": "cae06b9c62b7568f"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [29.050572824664414, 9.200386827113107, 0.7022129306933493], "size": [2.274435043334961, 5.805303573608398, 2.0681731700897217], "instance_token": "2fa0b94ee0315ca9"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [47.647337487433106, 10.669747408479452, 0.48570360986923333], "size": [1.9873507022857666, 4.67028284072876, 1.8628145456314087], "instance_token": "0db49c5007c45190"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 847, "y1": 520, "x2": 896, "y2": 558, "logit": 0.0, "location": [76.19249586109072, 3.5458653506357223, 0.7591898311293335], "size": [2.099935293197632, 4.631925582885742, 1.7423553466796875], "instance_token": "766425f6b0bb5fdb"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "63173"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bd5e809e2eaba78581d6b563990eb2809b36436
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000032.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ad0fdb8dcf234a56d74dc318a809c9718742b95
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000034.json
new file mode 100644
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000035.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000036.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000037.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000037.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000038.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000038.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000039.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/json_data/mask_000039.json
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000006/prompt.txt
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@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.06, 11.86, 11.68, 11.96]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.17, -1.15, -0.96, -1.0
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000006/response.txt
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index 0000000000000000000000000000000000000000..61e3918d8fdb824bf28def97938f6d303b5383b5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000006/response.txt
@@ -0,0 +1,41 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain speed limits, and be prepared to stop if necessary.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, ahead
+    - Potential Effects: May slow down or stop, affecting the ego vehicle's speed.
+    - Future Behavior: Likely to continue moving forward or slow down.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego vehicle has been maintaining a steady speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear with no immediate obstacles, allowing the ego vehicle to maintain its current speed.
+- **Driving Plan:** Continue moving forward at a constant speed, keeping an eye on the vehicle ahead (Object 1).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable object is in the same lane but at a safe distance, allowing for continued movement without speed adjustment.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/gt_fut_traj.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/gt_fut_traj_mask.pkl
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+version https://git-lfs.github.com/spec/v1
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [11.96, 11.98, 12.3, 12.37]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.0, -1.07, -1.1, -1.1
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/response.txt
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index 0000000000000000000000000000000000000000..a726416a77d53aa1bb1c1d363954e9a7d9b9ff16
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000012/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: Roadwork ahead
+  - Traffic rules: Slow down near roadwork, maintain lane discipline, and be cautious of merging vehicles.
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the right lane
+    - Potential Effects: May slow down or stop due to roadwork
+    - Future Behavior: Likely to maintain lane or slow down
+  - Object (ID 6): Green vehicle in the middle lane
+    - Potential Effects: May need to merge or slow down due to roadwork
+    - Future Behavior: Likely to maintain lane or slow down
+  - Object (ID 7): Green vehicle in the left lane
+    - Potential Effects: May continue at a steady pace
+    - Future Behavior: Likely to maintain lane
+  - Object (ID 8): Light green vehicle in the middle lane
+    - Potential Effects: May need to merge or slow down due to roadwork
+    - Future Behavior: Likely to maintain lane or slow down
+  - Object (ID 9): Green vehicle in the middle lane
+    - Potential Effects: May need to merge or slow down due to roadwork
+    - Future Behavior: Likely to maintain lane or slow down
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear lanes and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A DECELERATION
+- **Explanation:** Due to roadwork ahead, it's prudent to decelerate and maintain a safe distance from vehicles in front.
+- **Driving Plan:** Continue moving forward with a deceleration to ensure safety around roadwork (Objects 1, 6, 8, 9).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The plan to decelerate is consistent with the presence of roadwork and potential slowdowns.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A DECELERATION
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "5",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/prompt.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.37, 12.64, 12.51, 12.34]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.1, -1.21, -1.06, -1.13
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..497dc274a57dbc5f60c1c26cac627eb0e3acb6fc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: Roadwork ahead
+  - Traffic rules: Maintain lane discipline, adhere to speed limits, and be cautious around construction zones.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, in the left lane, black color
+    - Potential Effects: May slow down due to roadwork
+    - Future Behavior: Likely to maintain lane and speed
+  - Object 10: Vehicle, in the middle lane, white color
+    - Potential Effects: May slow down or change lanes due to roadwork
+    - Future Behavior: Likely to maintain lane but may decelerate
+  - Object 12: Vehicle, in the right lane, blue color
+    - Potential Effects: May slow down due to roadwork
+    - Future Behavior: Likely to maintain lane and speed
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic and a green light.
+  - **Lane Association: **
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and the ego car should maintain its lane and speed, being cautious of roadwork.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring objects 1, 10, and 12 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The plan to MOVE FORWARD at a CONSTANT SPEED aligns with the current traffic conditions and notable objects.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..784ddfe6aeaefde648c5950b00a1464879f1499b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dddb3e99aad535fae714a782988fe4fbdb947131aed6c45a3ce734aff3fc65d
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7de1ff0e0298080cf116f3c1546f55eff355f1b2
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a80d3f88dc674fc3ab69ea5543193a043df10e81aaccc1d5a29399880cfb9e
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5699e8dd53b66317d3fed99f20e7fb5454ed64e5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.34, 12.21, 12.08, 11.93]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.13, -1.04, -1.04, -0.93
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7f94343412170078dcac5e36b492361e4e8bf2fc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000024/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Proceed through the green light, maintain lane discipline, and observe speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the left lane, red color
+    - Potential Effects: May slow down or stop if the light changes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 12: Vehicle in the right lane, blue color
+    - Potential Effects: May merge or change lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to the green light and clear path ahead.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The green light and clear path allow for continued movement at a constant speed.
+- **Driving Plan:** Continue moving forward, maintaining lane and speed.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d4032c7d6bcaf1af88352b3f2e4855f8500f7f1d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eb6905b7ab4bc4b4e76e88305c7b20c37e755b30d0a135e63334173337a4aaf
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d2f68ee3ea72647727b41438a793a35a1d6ef8c5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47c31d20ffe1f48977cdeb2fe7d0a8281746d53facc8feacf417b177934fd168
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8c623ae5dc572d6ab4d87f266b2b3973339026a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [11.93, 12.4, 12.38, 12.22]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.93, -1.31, -1.23, -1.07
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6c33138de04813ca251db51414799f178af3d6d3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000030/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: Roadwork ahead
+  - Traffic rules: Maintain lane discipline, obey traffic signals, and reduce speed in construction zones.
+
+- **Notable Objects:**
+  - Object 14: Vehicle, left lane, purple
+    - Potential Effects: May slow down due to roadwork.
+    - Future Behavior: Likely to maintain lane and speed.
+  - Object 15: Vehicle, center lane, red
+    - Potential Effects: Directly ahead, may slow down due to roadwork.
+    - Future Behavior: Likely to maintain lane and speed.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if needed.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A DECELERATION
+- **Explanation:** Due to roadwork ahead, a slight deceleration is prudent to ensure safety and compliance with traffic rules.
+- **Driving Plan:** Continue moving forward with a slight deceleration to accommodate potential slowdowns from objects 14 and 15.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A DECELERATION
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "8",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c7f8f1fc58a230e85b97e22645b1906bca472d58
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7eb3e99a2b1e6b8af2dd81e45437d53dbb88dd634d455f7a4f513c5b8a3ca6e
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..06670c5ec6e44799831241c559a6939cc499c8ad
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c37a177e77b84f49439eb83ec947c0b3a90d7f254b9c1e82f94500a93595957e
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7174f096baeab2b8e2ddc9ff3253c90d609b2d2e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.22, 12.03, 11.84, 11.62]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.07, -1.06, -1.22, -1.1
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea1eae0f455a7fd6178a9abf601580c972cc88c5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_15/result/output_000036/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: Roadwork ahead
+  - Traffic rules: Follow lane markings, reduce speed in construction zones, and maintain a safe distance from other vehicles.
+
+- **Notable Objects:**
+  - Object 1 (ID: 1): Vehicle, in the same lane, black color
+    - Potential Effects: May slow down due to roadwork, affecting our speed.
+    - Future Behavior: Likely to maintain or reduce speed.
+  - Object 2 (ID: 15): Vehicle, in the adjacent lane, white color
+    - Potential Effects: May merge into our lane due to roadwork.
+    - Future Behavior: Likely to continue straight or merge.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, with dashed lines indicating possible lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A DECELERATION
+- **Explanation:** Due to roadwork and potential merging vehicles, it's prudent to decelerate to maintain safety.
+- **Driving Plan:** Maintain lane and decelerate to adjust for potential slowdowns (Object 1) and merging (Object 2).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The decision to decelerate is consistent with the presence of roadwork and potential merging vehicles.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A DECELERATION
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "5",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..f053206fc0d15201b630e307eca9590a8f512991
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 930, "y1": 521, "x2": 975, "y2": 561, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 849, "y1": 524, "x2": 891, "y2": 557, "logit": 0.0, "location": [77.40197535976768, 4.484760239138268, 0.5946249755506869], "size": [2.0409793853759766, 4.60144567489624, 1.7063744068145752], "instance_token": "057fb30467d1591b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 471, "y1": 540, "x2": 614, "y2": 631, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 509, "x2": 240, "y2": 819, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 747, "y1": 531, "x2": 798, "y2": 565, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67597"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..f998f2268d4f0ef8b4d7e55f20f1d598cd3d2465
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 921, "y1": 523, "x2": 967, "y2": 558, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 846, "y1": 519, "x2": 886, "y2": 552, "logit": 0.0, "location": [77.40197535976768, 4.484760239138268, 0.5946249755506869], "size": [2.0409793853759766, 4.60144567489624, 1.7063744068145752], "instance_token": "057fb30467d1591b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 462, "y1": 539, "x2": 605, "y2": 627, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 509, "x2": 222, "y2": 759, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 734, "y1": 526, "x2": 785, "y2": 563, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..104afa8c60da9c55786985e794ec2a30d1f1cdae
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 915, "y1": 520, "x2": 961, "y2": 559, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 839, "y1": 520, "x2": 884, "y2": 553, "logit": 0.0, "location": [77.40197535976768, 4.484760239138268, 0.5946249755506869], "size": [2.0409793853759766, 4.60144567489624, 1.7063744068145752], "instance_token": "057fb30467d1591b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 457, "y1": 540, "x2": 600, "y2": 629, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 514, "x2": 207, "y2": 757, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 723, "y1": 528, "x2": 773, "y2": 564, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e438f869e5d75b2563edccb3d4eff96f3be94e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 914, "y1": 525, "x2": 960, "y2": 560, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 847, "y1": 522, "x2": 885, "y2": 553, "logit": 0.0, "location": [77.40197535976768, 4.484760239138268, 0.5946249755506869], "size": [2.0409793853759766, 4.60144567489624, 1.7063744068145752], "instance_token": "057fb30467d1591b"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 454, "y1": 539, "x2": 598, "y2": 631, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 519, "x2": 191, "y2": 757, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 712, "y1": 529, "x2": 762, "y2": 565, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c09b5e88edec95cfdf831f1aa4f41b2e3684bc0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 914, "y1": 528, "x2": 960, "y2": 561, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 456, "y1": 540, "x2": 598, "y2": 628, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 522, "x2": 180, "y2": 758, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 704, "y1": 530, "x2": 755, "y2": 564, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2394023a5793484fb958a653b0e84df8d4cec2e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 915, "y1": 520, "x2": 962, "y2": 561, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 460, "y1": 539, "x2": 600, "y2": 629, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 523, "x2": 179, "y2": 757, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 698, "y1": 529, "x2": 747, "y2": 564, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..5661099094f0760bb8f43586022fafe76fa69b3d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 920, "y1": 528, "x2": 968, "y2": 564, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 464, "y1": 542, "x2": 603, "y2": 631, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 526, "x2": 185, "y2": 756, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 695, "y1": 531, "x2": 745, "y2": 567, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67720"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5ccfb53e4afb1e34d3538aca1fc912de21e066
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 936, "y1": 525, "x2": 984, "y2": 565, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 478, "y1": 543, "x2": 617, "y2": 632, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 521, "x2": 206, "y2": 753, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 702, "y1": 532, "x2": 755, "y2": 568, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67720"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..c78af48e45c01d94e4a181ea376734bc260d860e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 949, "y1": 528, "x2": 998, "y2": 564, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 489, "y1": 543, "x2": 628, "y2": 631, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 519, "x2": 233, "y2": 799, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 706, "y1": 531, "x2": 760, "y2": 567, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1020, "y1": 525, "x2": 1058, "y2": 557, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "24"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7281f495fb690706a372804ba759fb8ecd6e2a6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 954, "y1": 529, "x2": 1006, "y2": 567, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 499, "y1": 545, "x2": 638, "y2": 633, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 520, "x2": 263, "y2": 815, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 710, "y1": 533, "x2": 764, "y2": 569, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1032, "y1": 528, "x2": 1074, "y2": 561, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "33"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a869b069fede925ef24e85f575a39e8192cc83b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 958, "y1": 529, "x2": 1010, "y2": 566, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 507, "y1": 543, "x2": 646, "y2": 631, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 517, "x2": 292, "y2": 805, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 708, "y1": 531, "x2": 762, "y2": 568, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1041, "y1": 528, "x2": 1086, "y2": 563, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "67575"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc6066d8ef62c3c6bbecb7eaa11731d395d0eafc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 960, "y1": 528, "x2": 1013, "y2": 565, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 512, "y1": 541, "x2": 651, "y2": 630, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 516, "x2": 317, "y2": 802, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 703, "y1": 528, "x2": 762, "y2": 566, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1046, "y1": 525, "x2": 1098, "y2": 564, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67575"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..fad5b9a53b79f4f1237c07beec674b20125840aa
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 961, "y1": 529, "x2": 1015, "y2": 568, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 515, "y1": 544, "x2": 653, "y2": 631, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 519, "x2": 325, "y2": 809, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 696, "y1": 531, "x2": 755, "y2": 569, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1056, "y1": 529, "x2": 1110, "y2": 571, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 760, "y1": 527, "x2": 803, "y2": 556, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67575"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1db058da6ae02cc3ba0c7a604b8e6ff8dcb49c4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 955, "y1": 526, "x2": 1011, "y2": 568, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 509, "y1": 543, "x2": 649, "y2": 633, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 520, "x2": 319, "y2": 820, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 681, "y1": 531, "x2": 741, "y2": 569, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1056, "y1": 528, "x2": 1119, "y2": 576, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 748, "y1": 524, "x2": 791, "y2": 556, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67843"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ce0a6d53792b54d8cb177ffdf7760e4928b60e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000014.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..7069e581b7b53157e7de21574d2a904d8aa95aea
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 925, "y1": 525, "x2": 985, "y2": 571, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 483, "y1": 540, "x2": 626, "y2": 632, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 513, "x2": 326, "y2": 829, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 639, "y1": 529, "x2": 708, "y2": 572, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1057, "y1": 531, "x2": 1144, "y2": 596, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 716, "y1": 523, "x2": 761, "y2": 558, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 13, "ego_lane": "32"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..84fdbfa9a3e3417ba4a2b0b2a8d8212660d61b09
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 907, "y1": 531, "x2": 969, "y2": 572, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 471, "y1": 543, "x2": 620, "y2": 637, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 517, "x2": 365, "y2": 830, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 622, "y1": 532, "x2": 690, "y2": 576, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1070, "y1": 537, "x2": 1170, "y2": 610, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 701, "y1": 528, "x2": 748, "y2": 560, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1044, "y1": 448, "x2": 1201, "y2": 562, "logit": 0.0, "location": [61.0070676356554, -6.055494258762337, 2.047339228396595], "size": [2.9718117713928223, 13.355437278747559, 4.712191104888916], "instance_token": "c04d26f1581e5e84"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 784, "y1": 522, "x2": 831, "y2": 562, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1019, "y1": 519, "x2": 1053, "y2": 559, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 959, "y1": 527, "x2": 996, "y2": 558, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "32"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bca3f6e7ad33d2c879459f254c38fd7b954ca4c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 895, "y1": 528, "x2": 957, "y2": 572, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 462, "y1": 543, "x2": 613, "y2": 639, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 518, "x2": 426, "y2": 824, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 604, "y1": 533, "x2": 678, "y2": 578, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1090, "y1": 539, "x2": 1215, "y2": 630, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 689, "y1": 526, "x2": 740, "y2": 562, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1052, "y1": 441, "x2": 1222, "y2": 562, "logit": 0.0, "location": [61.0070676356554, -6.055494258762337, 2.047339228396595], "size": [2.9718117713928223, 13.355437278747559, 4.712191104888916], "instance_token": "c04d26f1581e5e84"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 771, "y1": 524, "x2": 823, "y2": 564, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1026, "y1": 520, "x2": 1055, "y2": 560, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 964, "y1": 526, "x2": 1007, "y2": 556, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "32"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8edf0586729b2af7dab99d6733a1bfdc8acd429
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000018.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0650341139880fe2a87227270ee95844a7118d8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 880, "y1": 528, "x2": 938, "y2": 571, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 506, "y1": 544, "x2": 596, "y2": 634, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 112, "y1": 514, "x2": 579, "y2": 779, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 567, "y1": 533, "x2": 649, "y2": 584, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1178, "y1": 556, "x2": 1408, "y2": 716, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 670, "y1": 529, "x2": 724, "y2": 565, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1069, "y1": 423, "x2": 1287, "y2": 574, "logit": 0.0, "location": [61.0070676356554, -6.055494258762337, 2.047339228396595], "size": [2.9718117713928223, 13.355437278747559, 4.712191104888916], "instance_token": "c04d26f1581e5e84"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 747, "y1": 522, "x2": 809, "y2": 569, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1040, "y1": 518, "x2": 1069, "y2": 568, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 996, "y1": 524, "x2": 1040, "y2": 556, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "32"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d649f1ae30291022919f7e4ddba52c35371f4af
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 874, "y1": 524, "x2": 933, "y2": 567, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 249, "y1": 510, "x2": 651, "y2": 747, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 588, "y1": 531, "x2": 635, "y2": 576, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1266, "y1": 573, "x2": 1641, "y2": 815, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 654, "y1": 524, "x2": 707, "y2": 562, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1079, "y1": 408, "x2": 1330, "y2": 582, "logit": 0.0, "location": [61.0070676356554, -6.055494258762337, 2.047339228396595], "size": [2.9718117713928223, 13.355437278747559, 4.712191104888916], "instance_token": "c04d26f1581e5e84"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 734, "y1": 517, "x2": 800, "y2": 569, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1051, "y1": 518, "x2": 1078, "y2": 569, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1004, "y1": 522, "x2": 1049, "y2": 552, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 951, "y1": 513, "x2": 990, "y2": 551, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "67804"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..458a9cfe782f9b5f480894963d038ee9c5746a43
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000021.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..b78a7a639dd50a4020ba6b6358682ce698125d61
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 863, "y1": 526, "x2": 919, "y2": 567, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 484, "y1": 511, "x2": 761, "y2": 698, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1100, "y1": 371, "x2": 1449, "y2": 621, "logit": 0.0, "location": [61.0070676356554, -6.055494258762337, 2.047339228396595], "size": [2.9718117713928223, 13.355437278747559, 4.712191104888916], "instance_token": "c04d26f1581e5e84"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 715, "y1": 519, "x2": 776, "y2": 581, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1070, "y1": 520, "x2": 1100, "y2": 586, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1018, "y1": 524, "x2": 1060, "y2": 555, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 948, "y1": 517, "x2": 990, "y2": 557, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "57": {"instance_id": 57, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "44"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae677933e90557d770c209c81eb3255ed77cdb2e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 861, "y1": 526, "x2": 917, "y2": 568, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 559, "y1": 512, "x2": 794, "y2": 678, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [76.63487411802635, -3.637069968157448, 0.5799352214307874], "size": [2.0408647060394287, 4.751495838165283, 1.7398102283477783], "instance_token": "450482999d615590"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1114, "y1": 342, "x2": 1547, "y2": 644, "logit": 0.0, "location": [61.0070676356554, -6.055494258762337, 2.047339228396595], "size": [2.9718117713928223, 13.355437278747559, 4.712191104888916], "instance_token": "c04d26f1581e5e84"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 706, "y1": 512, "x2": 768, "y2": 551, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1081, "y1": 523, "x2": 1115, "y2": 597, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1018, "y1": 527, "x2": 1059, "y2": 555, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 947, "y1": 518, "x2": 988, "y2": 558, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "58": {"instance_id": 58, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "44"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcac09f062d099c5ba80e4acaaa09d5e98c4705b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 859, "y1": 527, "x2": 913, "y2": 568, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 616, "y1": 515, "x2": 815, "y2": 661, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 426, "y1": 539, "x2": 545, "y2": 606, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 533, "y1": 537, "x2": 585, "y2": 576, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1094, "y1": 528, "x2": 1132, "y2": 609, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1018, "y1": 528, "x2": 1056, "y2": 556, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 945, "y1": 521, "x2": 988, "y2": 560, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1733, "y1": 609, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "58": {"instance_id": 58, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "44"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..d41ed5a4faf831bfb8a9e7cf41b129ed0db1dc50
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 858, "y1": 531, "x2": 911, "y2": 571, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 659, "y1": 520, "x2": 831, "y2": 651, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 384, "y1": 544, "x2": 517, "y2": 616, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 493, "y1": 539, "x2": 550, "y2": 585, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1113, "y1": 532, "x2": 1164, "y2": 630, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1015, "y1": 533, "x2": 1055, "y2": 561, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 944, "y1": 526, "x2": 987, "y2": 566, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "60": {"instance_id": 60, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "44"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..375cfb389b2d270d298cfcdb742e6a94bf62ce22
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 858, "y1": 539, "x2": 910, "y2": 578, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 692, "y1": 527, "x2": 843, "y2": 647, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 338, "y1": 553, "x2": 485, "y2": 630, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 456, "y1": 546, "x2": 517, "y2": 598, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1135, "y1": 539, "x2": 1212, "y2": 659, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1013, "y1": 540, "x2": 1053, "y2": 567, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 943, "y1": 534, "x2": 987, "y2": 574, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "44"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff77380016cb8b25c6960e4f3bafb66444b86c9e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 866, "y1": 523, "x2": 916, "y2": 561, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 721, "y1": 515, "x2": 854, "y2": 622, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 287, "y1": 543, "x2": 449, "y2": 628, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 415, "y1": 534, "x2": 485, "y2": 591, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1176, "y1": 524, "x2": 1295, "y2": 677, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1016, "y1": 525, "x2": 1054, "y2": 552, "logit": 0.0, "location": [77.6999586909078, -0.7748623735969886, 0.4380939971160842], "size": [1.96645987033844, 4.462408542633057, 1.5591068267822266], "instance_token": "5ae76d4b2d035239"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 947, "y1": 519, "x2": 991, "y2": 559, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "44"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..73cf428a809cf7b8bd0671ed3c87d0b83184fc76
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000028.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa229b755d23af07f877c1e6dcfe19776e7dfac
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 878, "y1": 527, "x2": 926, "y2": 562, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 769, "y1": 516, "x2": 879, "y2": 607, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 145, "y1": 550, "x2": 352, "y2": 651, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 288, "y1": 539, "x2": 391, "y2": 604, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1342, "y1": 533, "x2": 1781, "y2": 848, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 952, "y1": 525, "x2": 999, "y2": 563, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 589, "x2": 149, "y2": 783, "logit": 0.0, "location": [11.329870485700667, 6.737508578575216, 0.44174974704219494], "size": [1.8213798999786377, 4.367542743682861, 1.638691782951355], "instance_token": "7a827ea09f3f51fa"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 402, "y1": 533, "x2": 501, "y2": 590, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 482, "y1": 524, "x2": 511, "y2": 561, "logit": 0.0, "location": [53.45637957844883, 14.191497104940936, 0.5290028040108155], "size": [1.9084386825561523, 4.53593635559082, 1.7683218717575073], "instance_token": "53308e55ddb35bd0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "63": {"instance_id": 63, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "65": {"instance_id": 65, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67215"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..a765249e6a5367446ea2aaabfaab70bdde5a1e06
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 879, "y1": 527, "x2": 923, "y2": 562, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 783, "y1": 518, "x2": 882, "y2": 601, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 50, "y1": 555, "x2": 279, "y2": 671, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 192, "y1": 545, "x2": 313, "y2": 617, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1555, "y1": 565, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 950, "y1": 524, "x2": 996, "y2": 565, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 665, "x2": 52, "y2": 818, "logit": 0.0, "location": [11.329870485700667, 6.737508578575216, 0.44174974704219494], "size": [1.8213798999786377, 4.367542743682861, 1.638691782951355], "instance_token": "7a827ea09f3f51fa"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 331, "y1": 536, "x2": 444, "y2": 597, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 424, "y1": 526, "x2": 450, "y2": 557, "logit": 0.0, "location": [53.45637957844883, 14.191497104940936, 0.5290028040108155], "size": [1.9084386825561523, 4.53593635559082, 1.7683218717575073], "instance_token": "53308e55ddb35bd0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "52"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08cbb06f92f23f8acc01320684887b0bcab23ac
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 879, "y1": 529, "x2": 919, "y2": 560, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 792, "y1": 517, "x2": 882, "y2": 595, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 558, "x2": 177, "y2": 691, "logit": 0.0, "location": [63.792600797489285, 7.67278560588602, 0.4048233433350106], "size": [1.985204815864563, 4.600748538970947, 1.6036298274993896], "instance_token": "72d7d8c5e941557a"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 57, "y1": 546, "x2": 210, "y2": 620, "logit": 0.0, "location": [78.29209489701316, 8.98315822740551, 0.23638500560628017], "size": [1.996558666229248, 4.565913200378418, 1.7286041975021362], "instance_token": "a9321642920c5bbc"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.50653653172776, -3.442896455875598, 0.5905455131432973], "size": [2.0344932079315186, 4.606017112731934, 1.8239690065383911], "instance_token": "15cf4552f8b1531e"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 945, "y1": 523, "x2": 991, "y2": 564, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [3.8162819277495146, -3.4887271254556254, 0.46474530415434856], "size": [1.9277420043945312, 4.660496711730957, 1.5937083959579468], "instance_token": "3b50ae2880155ff2"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [11.329870485700667, 6.737508578575216, 0.44174974704219494], "size": [1.8213798999786377, 4.367542743682861, 1.638691782951355], "instance_token": "7a827ea09f3f51fa"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 235, "y1": 534, "x2": 364, "y2": 608, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.45637957844883, 14.191497104940936, 0.5290028040108155], "size": [1.9084386825561523, 4.53593635559082, 1.7683218717575073], "instance_token": "53308e55ddb35bd0"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "52"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..98a5fb45f7a58c63de3073f0e53cae64ed326c5f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 879, "y1": 528, "x2": 918, "y2": 564, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 801, "y1": 524, "x2": 884, "y2": 594, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 941, "y1": 528, "x2": 988, "y2": 568, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 129, "y1": 540, "x2": 263, "y2": 626, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"66": {"instance_id": 66, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "67": {"instance_id": 67, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "68": {"instance_id": 68, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "52"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..212931c8856097d413707cbe278049439540b4a6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 880, "y1": 530, "x2": 917, "y2": 565, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 806, "y1": 526, "x2": 884, "y2": 592, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 941, "y1": 530, "x2": 985, "y2": 571, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 543, "x2": 124, "y2": 642, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "69": {"instance_id": 69, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "71": {"instance_id": 71, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "72": {"instance_id": 72, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "52"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c9adca0f9535cc525f2c815807021e26ea5123
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 886, "y1": 521, "x2": 920, "y2": 556, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 815, "y1": 518, "x2": 888, "y2": 581, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 944, "y1": 525, "x2": 989, "y2": 562, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "73": {"instance_id": 73, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "74": {"instance_id": 74, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "75": {"instance_id": 75, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "74"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d27b719a784c7da1ee97271c6133f7d4eedc993
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 880, "y1": 523, "x2": 915, "y2": 557, "logit": 0.0, "location": [71.24798250710592, 0.5021300098160282, 0.6811375101242447], "size": [2.0764338970184326, 4.662982940673828, 1.9510047435760498], "instance_token": "8127fabb31ea5dc1"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.130528545938432, 7.0297967047663406, 0.47486543686682126], "size": [1.8543164730072021, 4.498209476470947, 1.6599231958389282], "instance_token": "7a827ea09f3f51fa"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 815, "y1": 520, "x2": 883, "y2": 580, "logit": 0.0, "location": [10.226718554738909, 6.6872876601992175, 0.672751474987308], "size": [2.149324893951416, 6.007909297943115, 2.0657167434692383], "instance_token": "9622c5c02b6b5877"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.90357766021043, 6.6277721907244995, 0.4349536021691165], "size": [2.049393653869629, 4.603830337524414, 1.873401403427124], "instance_token": "05749f85c5d1588d"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 941, "y1": 530, "x2": 985, "y2": 564, "logit": 0.0, "location": [77.02154607977718, -0.4235977380303666, 0.88202493263816], "size": [2.064155101776123, 4.6457343101501465, 1.834579348564148], "instance_token": "49fac152cb62542b"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [45.515974963549525, 13.395860857097432, 0.34779959810111905], "size": [1.9558690786361694, 4.613296031951904, 1.5473467111587524], "instance_token": "58a8301f79765da1"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"59": {"instance_id": 59, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "76": {"instance_id": 76, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "77": {"instance_id": 77, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "78": {"instance_id": 78, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "77"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..725a9df028d8e2199e29ea6d7fd4c31a1a2f4b24
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/json_data/mask_000036.json
@@ -0,0 +1 @@
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b6513980b018d140adb8a6eca973d23347824252189334a4db8807f235323e73
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1f7b8e9e4879327d6e9752946ef8b4c17dc7be91
--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84018d0ccb261accae540048cead269a72aa0eb1673769869630e6587918db10
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3e19c012f322d6efe88234e567453693e8296f0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.68, 12.54, 12.39, 12.2]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.24, -1.31, -1.19, -1.25
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1077c675e87d6099da01e1d33e1015159bdd4ba3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000006/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, obey traffic lights, maintain speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the right lane, red color
+    - Potential Effects: May slow down or stop, affecting lane changes or speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle in the middle lane, orange color
+    - Potential Effects: May affect speed if it slows down.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 5: Vehicle in the left lane, yellow color
+    - Potential Effects: May affect lane change decisions.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, allowing for continuous movement at a constant speed.
+- **Driving Plan:** Continue moving forward, maintaining speed. Monitor objects 1, 3, and 5 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5d1d1cc6e87a97f719e27e45f2b23618bc7c32ff
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f871bf4c629a5f4e76a4ee996ca0f630a8cc32dc76a8e44bebf4af61f2267236
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..95cfaac969542a6c8b6d13037d27307b3ab321f7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b888a106aa82cef5451592745eb8cada320f3fc4c9a3b52107c2ee5d5717eccc
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..214cea93bc883a461d9e86bb24ab4ce4d871575f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.2, 12.18, 11.93, 11.76]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.25, -1.16, -1.15, -1.19
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..11d27bdfc670c90348e153652405dd46a0c56a9e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000012/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and proceed on green light.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, in the middle lane, red color
+    - Potential Effects: May slow down or stop, affecting the driving route.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle, in the left lane, black color
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle, in the right lane, orange color
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 4: Vehicle, in the middle lane, white color
+    - Potential Effects: May slow down or stop, affecting the driving route.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 5: Vehicle, in the right lane, yellow color
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear road conditions and a green traffic light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and no immediate obstacles are present. Continuing forward at a constant speed is safe and efficient.
+- **Driving Plan:** Maintain current lane and speed, monitoring objects 1 and 4 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..59faddee1a94563935d1b47dafc4035b238ff0b8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a135c4ec34545260cbb41243ed697062917dc4a6867443a4b544499dc5d91f70
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..235c6fa5ad821467b78f6650a15796d3daf8153a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ef32b3ffbaf64aa63c22063806d10cae81796dbaf501e4c4db5e214d89f256e
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f41a7c4aba5b3c9439b1fd1c2885e6718f279c68
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [11.76, 11.6, 11.42, 11.18]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.19, -1.09, -1.02, -1.04
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..edfb81cda77a2c815180f5120dbeb0978080fd90
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000018/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain speed limits, and be aware of surrounding vehicles.
+
+- **Notable Objects:**
+  - Object (ID 4): Vehicle, left lane, yellow
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue straight
+  - Object (ID 3): Vehicle, center lane, orange
+    - Potential Effects: Directly in front, may require speed adjustment
+    - Future Behavior: Likely to continue straight
+  - Object (ID 5): Vehicle, center lane, red
+    - Potential Effects: In the same lane, may require speed adjustment
+    - Future Behavior: Likely to continue straight
+  - Object (ID 6): Vehicle, right lane, green
+    - Potential Effects: May affect lane changes or overtaking
+    - Future Behavior: Likely to continue straight
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady speed in the center lane, with no immediate obstacles.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, with vehicles maintaining their lanes. No immediate need for lane changes or speed adjustments.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 3 and ID 5.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e5190083f10b221f3a69c04238a442c9cd013774
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:725fab4de56c620bab4b3fcfe4c21bcea04ee06349e80cc1b0bafac215555315
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fe4668b7c09f981d6ec49dd34887c907ef56241a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74dd00d88770d9a226661ce00b7862d45dd7d063c61c6d045f6399dca52e5b8b
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e1517f602d9076416e106736bacf36f168038de9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [11.18, 10.68, 9.91, 9.56]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.04, -1.11, -1.01, -1.04
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..81970b798f9b4c4ad4dda50e55f9ac4cfc3336e0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000024/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey traffic signals, maintain lane discipline.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, in the same lane, black color
+    - Potential Effects: May slow down or stop, affecting our speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 4): Vehicle, left lane, black color
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 8): Bus, right lane, white color
+    - Potential Effects: May slow down or stop, affecting lane changes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 9): Vehicle, left lane, black color
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 10): Vehicle, right lane, white color
+    - Potential Effects: May slow down or stop, affecting lane changes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, allowing for continued forward movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles ID 1, 4, 8, 9, and 10 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b4becd9e2b128a90137e7488a0e665f12e5cb533
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff0e617e9fc2967b13a5f70a62112e776060b923531e0b771c71b4894dff4c7c
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e86ab3c67ce136b2a9a837b352014b9697d3e60d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97903a5ed7d8d7246b6df252c68d69385d9272861a89d4e49a53514f43415a91
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3c24ad3910598e05d4d7f4c89ee286cd4c316fc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.56, 9.44, 9.46, 9.22]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.04, -1.1, -1.02, -1.06
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..066285bdac04003a0e0bc7c8cb31adf1bd143623
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000030/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 4: Vehicle (car, middle lane, orange)
+    - Potential Effects: May stop due to red light.
+    - Future Behavior: Likely to remain stationary.
+  - Object 10: Vehicle (bus, right lane, beige)
+    - Potential Effects: May block view or path if turning.
+    - Future Behavior: Likely to stop due to red light.
+  - Object 12: Vehicle (car, right lane, blue)
+    - Potential Effects: May stop due to red light.
+    - Future Behavior: Likely to remain stationary.
+  - Object 14: Vehicle (car, left lane, purple)
+    - Potential Effects: May stop due to red light.
+    - Future Behavior: Likely to remain stationary.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed, likely approaching the intersection.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping. Vehicles ahead are likely to stop as well.
+- **Driving Plan:** Stop at the red light, maintaining position in the middle lane. Monitor vehicles 4, 10, 12, and 14.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The plan to stop is consistent with the red light and surrounding vehicles.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..81af1d094f9546a1d1f9924bacf35c88ebeb1473
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a4fc47d435f8fb4e6496902fe872027514f457bba5de928b15c13ab0f7c2669
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4609f4e5a6f562a263575f40970e63ea267c4dfc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893a0647fe56cae5a324d551f86d4fe73ffff111dc9ea2dfb7a1788a04a8905f
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27dcebbd1080ecefd0fc6ead72b42739caa858cb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.22, 9.19, 9.77, 9.61]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.06, -1.04, -1.16, -1.0
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cbce2b51ea9dbe552727029202dc16b2194011df
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_3/result/output_000036/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights; no crossing solid lines.
+
+- **Notable Objects:**
+  - Object 4: Vehicle, yellow, in the left lane.
+    - Potential Effects: Blocking the lane; must wait for the light to change.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object 12: Vehicle, blue, in the right lane.
+    - Potential Effects: Blocking the lane; must wait for the light to change.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; solid lines indicate no lane changes allowed.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires the vehicle to remain stopped.
+- **Driving Plan:** Maintain current position until the light changes. Relevant objects: 4, 12.
+
+*****Reflection:*****
+- **Self-Consistency:** The analysis is consistent with the current situation. The ego car is correctly positioned and stopped due to the red light.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d109cee2f83735b32968d4d22fb490ad9a0749
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 930, "y1": 515, "x2": 1005, "y2": 587, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 594, "y1": 534, "x2": 703, "y2": 607, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 620, "x2": 489, "y2": 1041, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 756, "y1": 524, "x2": 810, "y2": 566, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1654, "y1": 165, "x2": 1919, "y2": 796, "logit": 0.0, "location": [7.991620301734656, -7.1580959325656295, 1.940818879615108], "size": [2.906651735305786, 14.265219688415527, 4.535914421081543], "instance_token": "671728f407795ec6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 803, "y1": 521, "x2": 846, "y2": 555, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "67502"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..661e8391fbf7c30652c99edb40b0036740baef81
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 931, "y1": 516, "x2": 1006, "y2": 589, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 601, "y1": 536, "x2": 708, "y2": 607, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 612, "x2": 512, "y2": 990, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 748, "y1": 526, "x2": 806, "y2": 568, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1817, "y1": 180, "x2": 1919, "y2": 796, "logit": 0.0, "location": [7.991620301734656, -7.1580959325656295, 1.940818879615108], "size": [2.906651735305786, 14.265219688415527, 4.535914421081543], "instance_token": "671728f407795ec6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 800, "y1": 522, "x2": 843, "y2": 557, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67502"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b6279a84cb6c15c8851c2c81ded49014ce285d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 930, "y1": 516, "x2": 1006, "y2": 588, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 605, "y1": 535, "x2": 712, "y2": 605, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 603, "x2": 535, "y2": 945, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 742, "y1": 527, "x2": 800, "y2": 569, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [7.991620301734656, -7.1580959325656295, 1.940818879615108], "size": [2.906651735305786, 14.265219688415527, 4.535914421081543], "instance_token": "671728f407795ec6"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 797, "y1": 522, "x2": 841, "y2": 557, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67502"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dc098140eaa2ee64eac95ca699fe41e25ed3b9b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000003.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..28f4ed3691b53482ecdacb8c9bd713317ad69c62
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 931, "y1": 517, "x2": 1007, "y2": 589, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 611, "y1": 537, "x2": 723, "y2": 606, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 104, "y1": 594, "x2": 588, "y2": 876, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 731, "y1": 529, "x2": 794, "y2": 573, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 794, "y1": 523, "x2": 840, "y2": 559, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67502"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..634abe3cd185b0ebc9a2e286d6893da36e2f803e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 929, "y1": 516, "x2": 1007, "y2": 589, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 621, "y1": 537, "x2": 739, "y2": 609, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 160, "y1": 589, "x2": 608, "y2": 851, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 730, "y1": 529, "x2": 789, "y2": 574, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 794, "y1": 524, "x2": 841, "y2": 559, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67502"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..c87743e84c698f0b9018d111b6b46403d4d82d2d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 926, "y1": 511, "x2": 1004, "y2": 585, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 641, "y1": 534, "x2": 762, "y2": 606, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 204, "y1": 582, "x2": 623, "y2": 826, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 726, "y1": 525, "x2": 784, "y2": 573, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 791, "y1": 521, "x2": 837, "y2": 557, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67502"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..2995f166ecc1772c490eba4170cf412499e0c026
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 922, "y1": 513, "x2": 999, "y2": 587, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 669, "y1": 535, "x2": 786, "y2": 608, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 245, "y1": 581, "x2": 638, "y2": 811, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 719, "y1": 529, "x2": 778, "y2": 558, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 787, "y1": 523, "x2": 834, "y2": 559, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03c1271ad6c3e964a0c07c26f330788f3245c40
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 919, "y1": 517, "x2": 996, "y2": 589, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 701, "y1": 539, "x2": 810, "y2": 607, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 284, "y1": 583, "x2": 653, "y2": 801, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 709, "y1": 532, "x2": 755, "y2": 551, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 786, "y1": 527, "x2": 833, "y2": 563, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 46, "y1": 542, "x2": 352, "y2": 738, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d0a0f100310140b022b43a7afab84e245782ba7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 924, "y1": 516, "x2": 1004, "y2": 590, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 735, "y1": 537, "x2": 835, "y2": 605, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 321, "y1": 579, "x2": 673, "y2": 787, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 708, "y1": 532, "x2": 761, "y2": 583, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 795, "y1": 526, "x2": 842, "y2": 562, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 5, "y1": 541, "x2": 361, "y2": 747, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..8195b70fbb7624551f1808f7cce51389ee8353da
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 927, "y1": 515, "x2": 1008, "y2": 591, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 761, "y1": 535, "x2": 850, "y2": 602, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 356, "y1": 573, "x2": 690, "y2": 777, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 711, "y1": 531, "x2": 769, "y2": 582, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 793, "y1": 525, "x2": 844, "y2": 554, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 541, "x2": 338, "y2": 761, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..a977a71b9cd0f85b8997a256b5b937d3850d3d54
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 931, "y1": 519, "x2": 1013, "y2": 594, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 778, "y1": 539, "x2": 864, "y2": 601, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 388, "y1": 576, "x2": 708, "y2": 769, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 713, "y1": 534, "x2": 778, "y2": 585, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 791, "y1": 528, "x2": 840, "y2": 542, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 544, "x2": 311, "y2": 778, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d8b87fbd9c185c5bc4fbb92eea2735b6a379bdb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 929, "y1": 519, "x2": 1011, "y2": 595, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 794, "y1": 538, "x2": 875, "y2": 598, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 411, "y1": 576, "x2": 715, "y2": 760, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 709, "y1": 535, "x2": 783, "y2": 586, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 803, "y1": 528, "x2": 839, "y2": 544, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 545, "x2": 275, "y2": 797, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d2ac88ba57184f0ef90b11a3ce25b29713efc58
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 927, "y1": 515, "x2": 1010, "y2": 592, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 807, "y1": 533, "x2": 883, "y2": 591, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 426, "y1": 570, "x2": 722, "y2": 751, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 705, "y1": 531, "x2": 778, "y2": 583, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 797, "y1": 523, "x2": 833, "y2": 557, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 546, "x2": 239, "y2": 810, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ccae5b24aad2be9a7fb5caca0d9c8ee991145a7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 928, "y1": 515, "x2": 1014, "y2": 595, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 824, "y1": 534, "x2": 894, "y2": 588, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 448, "y1": 569, "x2": 731, "y2": 745, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 707, "y1": 532, "x2": 781, "y2": 584, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 800, "y1": 523, "x2": 838, "y2": 561, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 546, "x2": 215, "y2": 809, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a2576417333ee1e76ff37eadb56136385c749b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 929, "y1": 516, "x2": 1015, "y2": 597, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 836, "y1": 533, "x2": 901, "y2": 585, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 466, "y1": 568, "x2": 737, "y2": 739, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 707, "y1": 532, "x2": 782, "y2": 584, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 799, "y1": 523, "x2": 840, "y2": 562, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 549, "x2": 190, "y2": 768, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..e105676b90237c1590c0f33e267889d601b52445
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 926, "y1": 517, "x2": 1013, "y2": 597, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 841, "y1": 534, "x2": 903, "y2": 582, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 476, "y1": 569, "x2": 738, "y2": 733, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 705, "y1": 534, "x2": 779, "y2": 585, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 796, "y1": 525, "x2": 844, "y2": 562, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 554, "x2": 165, "y2": 775, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 614, "y1": 528, "x2": 673, "y2": 566, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c185701fb13b641b606c03af8b1d0ef32bb2ce
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 925, "y1": 522, "x2": 1012, "y2": 604, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 845, "y1": 538, "x2": 904, "y2": 585, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 484, "y1": 571, "x2": 737, "y2": 735, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 703, "y1": 539, "x2": 777, "y2": 589, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 795, "y1": 530, "x2": 845, "y2": 567, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 568, "x2": 143, "y2": 785, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 608, "y1": 531, "x2": 668, "y2": 571, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbba51d4d78cbd8196d45eab05361222afe7afcd
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 925, "y1": 518, "x2": 1011, "y2": 600, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 849, "y1": 532, "x2": 906, "y2": 577, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 487, "y1": 567, "x2": 735, "y2": 726, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 703, "y1": 535, "x2": 778, "y2": 585, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 794, "y1": 525, "x2": 843, "y2": 562, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 576, "x2": 131, "y2": 785, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 599, "y1": 528, "x2": 659, "y2": 566, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a95ed5d535ea84d7a0b6ac3ac1dfc19c0fde048
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000019.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0979ec88c2d6a059ab4c7d2d455656e4b995a61
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 931, "y1": 516, "x2": 1018, "y2": 599, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 864, "y1": 532, "x2": 915, "y2": 570, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 521, "y1": 565, "x2": 750, "y2": 712, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 714, "y1": 534, "x2": 787, "y2": 582, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 804, "y1": 527, "x2": 850, "y2": 560, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 556, "x2": 173, "y2": 775, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 589, "y1": 528, "x2": 651, "y2": 564, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 676, "y1": 523, "x2": 723, "y2": 559, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd5a8045039db277c698877ba394757bc727ca2d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 933, "y1": 516, "x2": 1018, "y2": 598, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 872, "y1": 531, "x2": 918, "y2": 567, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 546, "y1": 561, "x2": 762, "y2": 701, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 720, "y1": 532, "x2": 791, "y2": 580, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 807, "y1": 525, "x2": 852, "y2": 559, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 551, "x2": 215, "y2": 807, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 576, "y1": 527, "x2": 641, "y2": 569, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 660, "y1": 522, "x2": 709, "y2": 559, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a058a138de24696cc9137cf2e751ab8e6f7789f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 933, "y1": 516, "x2": 1018, "y2": 598, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 531, "x2": 921, "y2": 565, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 568, "y1": 559, "x2": 772, "y2": 690, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 726, "y1": 531, "x2": 798, "y2": 580, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 811, "y1": 525, "x2": 856, "y2": 559, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 545, "x2": 259, "y2": 806, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 560, "y1": 527, "x2": 627, "y2": 572, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 641, "y1": 523, "x2": 695, "y2": 558, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b3c3d56dc65fdb8cff3141b402d7d9a554b27e1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000023.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..b268b7d5fbac6de8fa5d17253228ed6f873c7ef8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 926, "y1": 515, "x2": 1011, "y2": 595, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 527, "x2": 918, "y2": 560, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 599, "y1": 551, "x2": 775, "y2": 668, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 734, "y1": 529, "x2": 798, "y2": 576, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 810, "y1": 523, "x2": 850, "y2": 555, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 540, "x2": 350, "y2": 759, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 507, "y1": 526, "x2": 588, "y2": 574, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 589, "y1": 521, "x2": 644, "y2": 562, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..946524621f18c7e0570cc68c512a28958efbcd87
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 923, "y1": 516, "x2": 1008, "y2": 597, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 528, "x2": 918, "y2": 560, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 608, "y1": 550, "x2": 779, "y2": 661, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 735, "y1": 530, "x2": 797, "y2": 576, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 808, "y1": 525, "x2": 850, "y2": 556, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 44, "y1": 536, "x2": 393, "y2": 737, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 473, "y1": 527, "x2": 559, "y2": 580, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 556, "y1": 521, "x2": 621, "y2": 568, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..85eed6607e933b8a5a04c042a0875daca4ddeba8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 919, "y1": 518, "x2": 1005, "y2": 598, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 528, "x2": 916, "y2": 559, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 619, "y1": 551, "x2": 783, "y2": 657, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 733, "y1": 530, "x2": 795, "y2": 576, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 806, "y1": 523, "x2": 848, "y2": 556, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 115, "y1": 536, "x2": 432, "y2": 721, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 429, "y1": 527, "x2": 524, "y2": 587, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 517, "y1": 523, "x2": 590, "y2": 573, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ba281c730490379d9c827e8794f976e525da4d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 918, "y1": 515, "x2": 1004, "y2": 597, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 526, "x2": 915, "y2": 556, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 632, "y1": 547, "x2": 789, "y2": 648, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 735, "y1": 528, "x2": 794, "y2": 572, "logit": 0.0, "location": [60.85622203582898, 6.875173422158696, 0.5631406208049157], "size": [1.9242714643478394, 4.4831156730651855, 1.6585010290145874], "instance_token": "0ffd6a374f4d5583"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 804, "y1": 521, "x2": 847, "y2": 554, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 181, "y1": 532, "x2": 467, "y2": 702, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 385, "y1": 525, "x2": 478, "y2": 585, "logit": 0.0, "location": [64.37996447226033, 12.959837552160025, 0.3271355834949645], "size": [1.963547706604004, 4.668909072875977, 1.6477632522583008], "instance_token": "551ee9fb40b05a71"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 470, "y1": 520, "x2": 555, "y2": 577, "logit": 0.0, "location": [77.42820297274739, 12.885977524914779, 0.4998312908501248], "size": [2.0481038093566895, 4.706912994384766, 1.8876744508743286], "instance_token": "ff0b3f02a03f52d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..5801df4273337ea5c006183165964260dfecc9ae
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 916, "y1": 523, "x2": 1003, "y2": 605, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 532, "x2": 913, "y2": 560, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 649, "y1": 553, "x2": 800, "y2": 650, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 803, "y1": 527, "x2": 846, "y2": 560, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 246, "y1": 537, "x2": 501, "y2": 695, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4cc4dfd735e76d32abaab556a370494da1b825
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 919, "y1": 524, "x2": 1005, "y2": 606, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 876, "y1": 534, "x2": 914, "y2": 562, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 667, "y1": 556, "x2": 809, "y2": 651, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 803, "y1": 529, "x2": 847, "y2": 561, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 303, "y1": 536, "x2": 533, "y2": 682, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9adacecf380e988d0a6451222b4e32286df04ee
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 924, "y1": 516, "x2": 1010, "y2": 599, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 526, "x2": 915, "y2": 555, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 680, "y1": 546, "x2": 817, "y2": 638, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 807, "y1": 522, "x2": 847, "y2": 554, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 357, "y1": 533, "x2": 563, "y2": 665, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4d2f3045d1617a9cb75b611e0fbad4f494cf830
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 924, "y1": 517, "x2": 1010, "y2": 600, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 877, "y1": 525, "x2": 914, "y2": 554, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 688, "y1": 544, "x2": 819, "y2": 635, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 802, "y1": 521, "x2": 845, "y2": 554, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 397, "y1": 530, "x2": 584, "y2": 655, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7dbae21e2e6ef071288591a261f8dffad1965cf
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01dafa846de96bff8b4794bf9fef9e448000494
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 923, "y1": 513, "x2": 1013, "y2": 599, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 875, "y1": 519, "x2": 910, "y2": 549, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 690, "y1": 538, "x2": 816, "y2": 626, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 798, "y1": 516, "x2": 842, "y2": 550, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 466, "y1": 521, "x2": 625, "y2": 627, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [22.65311816241592, 13.668915571412072, 0.8013762601331109], "size": [2.0342342853546143, 4.7658305168151855, 1.8136496543884277], "instance_token": "ff0b3f02a03f52d9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1007, "y1": 519, "x2": 1050, "y2": 559, "logit": 0.0, "location": [69.72801683237776, -2.8296486446633935, 0.8689331191271776], "size": [1.9555273056030273, 4.566532135009766, 1.5685667991638184], "instance_token": "395b89bc525b590c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..0145e5d1bc8fee6dff08438f1aacdf83f72492a1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 922, "y1": 514, "x2": 1010, "y2": 601, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 874, "y1": 520, "x2": 909, "y2": 549, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 690, "y1": 542, "x2": 815, "y2": 627, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 799, "y1": 518, "x2": 840, "y2": 550, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 496, "y1": 526, "x2": 643, "y2": 625, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [22.65311816241592, 13.668915571412072, 0.8013762601331109], "size": [2.0342342853546143, 4.7658305168151855, 1.8136496543884277], "instance_token": "ff0b3f02a03f52d9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1009, "y1": 526, "x2": 1056, "y2": 564, "logit": 0.0, "location": [69.72801683237776, -2.8296486446633935, 0.8689331191271776], "size": [1.9555273056030273, 4.566532135009766, 1.5685667991638184], "instance_token": "395b89bc525b590c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..d68ad6c0637b5e2d342a181f8ae845d4be42206c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 926, "y1": 511, "x2": 1016, "y2": 597, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 881, "y1": 516, "x2": 915, "y2": 545, "logit": 0.0, "location": [33.64114587102085, 6.48141836351715, 0.4555643054554821], "size": [1.8827325105667114, 4.432415962219238, 1.5711003541946411], "instance_token": "68bcec4e9da75a76"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 698, "y1": 538, "x2": 820, "y2": 620, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 805, "y1": 514, "x2": 846, "y2": 547, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 530, "y1": 521, "x2": 665, "y2": 614, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [22.65311816241592, 13.668915571412072, 0.8013762601331109], "size": [2.0342342853546143, 4.7658305168151855, 1.8136496543884277], "instance_token": "ff0b3f02a03f52d9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1017, "y1": 524, "x2": 1070, "y2": 566, "logit": 0.0, "location": [69.72801683237776, -2.8296486446633935, 0.8689331191271776], "size": [1.9555273056030273, 4.566532135009766, 1.5685667991638184], "instance_token": "395b89bc525b590c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..97acdce87da0f32aa35ed02b86e4ac0ad12f4b3a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 926, "y1": 519, "x2": 1018, "y2": 606, "logit": 0.0, "location": [45.50369337853044, -0.16708522499538958, 0.7664848301137681], "size": [2.3079895973205566, 5.615609645843506, 2.1268701553344727], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 704, "y1": 545, "x2": 824, "y2": 625, "logit": 0.0, "location": [7.424181359354407, 3.343204505974427, 0.40425272502034204], "size": [1.862563967704773, 4.774069786071777, 1.5244914293289185], "instance_token": "ba2b4231fa915bdc"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 808, "y1": 525, "x2": 850, "y2": 555, "logit": 0.0, "location": [76.76824165182188, 6.604334792122245, 0.7217889645544346], "size": [1.9449756145477295, 4.467714309692383, 1.7192732095718384], "instance_token": "8cba9d4fa89d5312"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 559, "y1": 530, "x2": 684, "y2": 616, "logit": 0.0, "location": [15.143035901710391, 7.030757988221012, 0.4932714993265108], "size": [1.9951047897338867, 5.02477502822876, 1.8315078020095825], "instance_token": "a2f82074423857d9"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1026, "y1": 535, "x2": 1085, "y2": 579, "logit": 0.0, "location": [69.72801683237776, -2.8296486446633935, 0.8689331191271776], "size": [1.9555273056030273, 4.566532135009766, 1.5685667991638184], "instance_token": "395b89bc525b590c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 68, "y1": 538, "x2": 176, "y2": 575, "logit": 0.0, "location": [64.15950323967263, 33.9205702689942, -0.07976139314268949], "size": [1.9099397659301758, 5.277101516723633, 1.7353144884109497], "instance_token": "63ddbb62901f5a58"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "7"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000037.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e85e7fe62a0a26ef039c2915fb08c96c526deb
--- /dev/null
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000006/prompt.txt
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+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.12, 6.91, 7.06, 7.43]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.37, -1.55, -0.28, -1.08
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000006/response.txt
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@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and follow traffic signals.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the left lane, red color
+    - Potential Effects: May slow down or stop if traffic ahead changes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle in the center lane, white color
+    - Potential Effects: May affect lane change decisions.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle in the right lane, white color
+    - Potential Effects: May affect lane change decisions.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car has been maintaining a steady speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction, with dashed lines allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and there are no immediate obstacles or notable events requiring a change in behavior.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane discipline.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts are present.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "13.4",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b7cf478b25a385d5116d77d26f6b62cc966109c7
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62cac011ab2603182dab982aa03693960a5ec748c14ed2e71b1aa34ea1d01ed
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ed3e272144eb3933cffd64ce6d5f3cc5966cb428
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9eb5aaca958a04f7a176cdc1c4289d048ec77fdaf5dd953b1e7c7e9956427482
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2f8b35c14ef096e976d4692a02b4980e2bacb4be
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [7.43, 7.59, 7.77, 8.12]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.08, -1.5, -1.09, -1.2
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..128ffe59193344846ceddfa5c64a5a57aa59e6d6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000012/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of vehicles in adjacent lanes.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, red color
+    - Potential Effects: May slow down or stop, affecting the ego car's speed.
+    - Future Behavior: Likely to maintain current speed or slow down.
+  - Object 2: Vehicle in the adjacent lane, white color
+    - Potential Effects: May change lanes or maintain speed.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 3: Vehicle in the adjacent lane, orange color
+    - Potential Effects: May change lanes or maintain speed.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 4: Vehicle in the adjacent lane, green color
+    - Potential Effects: May change lanes or maintain speed.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 7: Vehicle in the adjacent lane, green color
+    - Potential Effects: May change lanes or maintain speed.
+    - Future Behavior: Likely to maintain current lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the ego car can maintain its current speed without needing to change lanes or overtake.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring Object 1 for any changes in speed.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6eba00573dfe6365dc51bf8f1d20f9adb6ef8a23
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b96637576967906af333f4ea6b5da1002c7e444e69c841ec9095b6e8110c83d
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7429dd093ea36751cdf4bb40135d16ee03dd5d11
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9028c1f472859469604d74ad3419678477c97bf68d40491f62512c1c437f32
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a19c97183b9b0bc40aa3cdaa7111f8df809b9d5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.12, 8.08, 8.18, 8.48]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.2, -0.92, -1.06, -1.12
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..36346c6cc6d5278a04889f5ca627e0a99113e64a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000018/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Drive on the right, obey speed limits, maintain lane discipline.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the same lane, white color
+    - Potential Effects: May slow down traffic if it decelerates.
+    - Future Behavior: Likely to maintain current speed and lane.
+  - Object 2: Vehicle in the adjacent lane, black color
+    - Potential Effects: Could merge into the ego lane.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 3: Vehicle ahead in the same lane, orange color
+    - Potential Effects: May require slowing down if it decelerates.
+    - Future Behavior: Likely to maintain current speed and lane.
+  - Object 4: Vehicle in the adjacent lane, blue color
+    - Potential Effects: Could merge into the ego lane.
+    - Future Behavior: Likely to maintain current lane.
+  - Object 8: Vehicle in the adjacent lane, green color
+    - Potential Effects: Could merge into the ego lane.
+    - Future Behavior: Likely to maintain current lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with no immediate obstacles, allowing for maintaining the current speed and lane.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 1, 2, 3, 4, and 8 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..66e0665b581f33844872227df78bc4d26d03582f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b01379e10800474ff0dd3e7267279d5011fe6a67d483e1fbfbca42c57a0cde
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..954c9099c21997b61eba4f02b55bbd89e1a9be7f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b4983ceb38960e948d607b29c3c9c0025b18947c877c790c1ca811a9a984433
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..329b167070ba79c378c48b304abe5eb3a0568e71
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.48, 8.41, 8.64, 8.67]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.12, -1.26, -1.15, -1.03
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a24b9a9ccc1ba2529e7955744a2d5275e7ad13e4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and follow traffic signals.
+
+- **Notable Objects:**
+  - Object (ID 1): White vehicle in the same lane, moving forward.
+    - Potential Effects: May slow down or stop, requiring adjustment.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 4): Orange vehicle in the adjacent lane to the left.
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID 8): Black vehicle in the adjacent lane to the right.
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego vehicle maintained a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the traffic light is green, allowing for continued movement at a constant speed.
+- **Driving Plan:** Maintain current lane and speed, monitoring vehicles ID 1, 4, and 8 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1e15f3b13a5f798779b791be99723c94b0993e8e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3810e2023cd6b38ca01642313be7f9eb405c14c336227d25dc2c44bf4affe74c
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0a4810c48df2fb739f269187bf220132c9b0a31d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392668d9cfa491d6e23582b58f55870fba0719d37ae975bcb829836171ec46ab
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d4492c77cff0bf6aeb4e4238531977dc709ad147
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.67, 9.17, 9.42, 9.86]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.03, -0.95, -1.0, -0.82
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..16d25b1139c3732b363be3f03a2f5841a17f4e4f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000030/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and follow speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Vehicle, in the same lane, black color
+    - Potential Effects: Requires stopping due to red light
+    - Future Behavior: Likely to remain stationary until the light changes
+  - Object (ID 3): Vehicle, in the adjacent lane, white color
+    - Potential Effects: None, as it is in a different lane
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object (ID 6): Vehicle, in the adjacent lane, blue color
+    - Potential Effects: None, as it is in a different lane
+    - Future Behavior: Likely to remain stationary due to red light
+  - Object (ID 7): Vehicle, in the left lane, yellow color
+    - Potential Effects: None, as it is in a different lane
+    - Future Behavior: Likely to remain stationary due to red light
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed as there were no immediate obstacles or traffic signals requiring a change in behavior.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, with dashed lines allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light ahead requires the ego car to stop to comply with traffic rules.
+- **Driving Plan:** Stop at the red light, maintaining position in the current lane. Relevant object: ID 1.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The red light necessitates stopping, and there are no inconsistencies.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a29732256dcaac34b3deb6e798ff21b95a030fd9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579fe4723358d7d4089d8267023d811ed59a16a1caacd07e7ebb8d9a6553f793
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0cea9ca1f11157c9575f13bcfb8fee20f5aedaa2
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ada3783f48602c9a6043a05403de9b9544d5f1020eb169624047afeb2e529e6c
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ef7ac1969ecce730c23f6d7aab470c26a441302e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.86, 9.95, 9.76, 9.46]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.82, -0.94, -1.19, -1.25
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed0cdb8584614c957189b6a99a8147b65384c2e8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_6/result/output_000036/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, white, in the same lane
+    - Potential Effects: May slow down or stop, affecting the ego vehicle's speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle, orange, in the left lane
+    - Potential Effects: May change lanes or maintain its position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 4: Vehicle, green, in the right lane
+    - Potential Effects: May change lanes or maintain its position.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 7: Vehicle, black, in the far left lane
+    - Potential Effects: Unlikely to affect the ego vehicle.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to the green light and clear path.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events affecting the path. Maintaining a constant speed is appropriate.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 1, 3, and 4 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..20e0ee7b39fc3e5f9518b0d76e39b931ead92155
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 791, "y1": 506, "x2": 996, "y2": 700, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 617, "x2": 260, "y2": 1079, "logit": 0.0, "location": [4.237083434127271, 3.3033857069094665, 0.4609897515110788], "size": [1.9831486940383911, 5.100123405456543, 1.5484901666641235], "instance_token": "fcb9d831515a5291"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1028, "y1": 515, "x2": 1158, "y2": 623, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 511, "x2": 195, "y2": 597, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 564, "y1": 547, "x2": 738, "y2": 674, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 977, "y1": 526, "x2": 1037, "y2": 576, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 369, "y1": 502, "x2": 546, "y2": 644, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 525, "y1": 524, "x2": 615, "y2": 605, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 719, "y1": 511, "x2": 812, "y2": 589, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 623, "y1": 524, "x2": 694, "y2": 547, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 673, "y1": 536, "x2": 775, "y2": 620, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 229, "y1": 543, "x2": 370, "y2": 631, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63284"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6459db0ae087cd49b826acf838a0e301d6ecc1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 788, "y1": 507, "x2": 991, "y2": 697, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 885, "x2": 39, "y2": 1070, "logit": 0.0, "location": [4.237083434127271, 3.3033857069094665, 0.4609897515110788], "size": [1.9831486940383911, 5.100123405456543, 1.5484901666641235], "instance_token": "fcb9d831515a5291"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1015, "y1": 517, "x2": 1138, "y2": 619, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 518, "x2": 134, "y2": 609, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 523, "y1": 551, "x2": 718, "y2": 690, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 972, "y1": 524, "x2": 1029, "y2": 576, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 324, "y1": 528, "x2": 517, "y2": 654, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 498, "y1": 525, "x2": 595, "y2": 596, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 708, "y1": 511, "x2": 808, "y2": 592, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 607, "y1": 530, "x2": 674, "y2": 551, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 657, "y1": 540, "x2": 764, "y2": 627, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 173, "y1": 545, "x2": 329, "y2": 642, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cc03842f76af5b2f14459d87741627311ab5248
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 800, "y1": 503, "x2": 1003, "y2": 694, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [4.237083434127271, 3.3033857069094665, 0.4609897515110788], "size": [1.9831486940383911, 5.100123405456543, 1.5484901666641235], "instance_token": "fcb9d831515a5291"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1020, "y1": 513, "x2": 1133, "y2": 610, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 520, "x2": 86, "y2": 639, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 490, "y1": 551, "x2": 713, "y2": 708, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 984, "y1": 526, "x2": 1030, "y2": 571, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 288, "y1": 529, "x2": 499, "y2": 663, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 487, "y1": 524, "x2": 592, "y2": 592, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 712, "y1": 510, "x2": 818, "y2": 594, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 600, "y1": 528, "x2": 676, "y2": 551, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 648, "y1": 537, "x2": 768, "y2": 632, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 124, "y1": 546, "x2": 292, "y2": 649, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..725076a11f11a7715a4883b7fb7afceb062d36e3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000003.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..71aefb68d7ac0741c8d7d4e2c06a94c008f56eec
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 824, "y1": 510, "x2": 1027, "y2": 701, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1029, "y1": 521, "x2": 1130, "y2": 607, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 389, "y1": 565, "x2": 683, "y2": 766, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1009, "y1": 533, "x2": 1034, "y2": 568, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 187, "y1": 536, "x2": 433, "y2": 695, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 455, "y1": 528, "x2": 584, "y2": 570, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 714, "y1": 515, "x2": 816, "y2": 608, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 599, "y1": 535, "x2": 675, "y2": 568, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 620, "y1": 546, "x2": 770, "y2": 657, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 19, "y1": 553, "x2": 203, "y2": 670, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..db1c1a91e64d0259f210a68b31d1888075635c42
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 830, "y1": 507, "x2": 1036, "y2": 701, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1029, "y1": 519, "x2": 1124, "y2": 603, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 310, "y1": 570, "x2": 658, "y2": 803, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1012, "y1": 532, "x2": 1039, "y2": 563, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 122, "y1": 538, "x2": 388, "y2": 711, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 430, "y1": 527, "x2": 576, "y2": 571, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 712, "y1": 513, "x2": 820, "y2": 611, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 590, "y1": 533, "x2": 674, "y2": 571, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 591, "y1": 546, "x2": 763, "y2": 666, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 556, "x2": 143, "y2": 680, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c4a10acbded444d47efea0e11657db5c73c354
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..d441d24ee44b1d27b1c05b466851fe0726d906dc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 843, "y1": 517, "x2": 1054, "y2": 715, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1044, "y1": 527, "x2": 1116, "y2": 604, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 66, "y1": 600, "x2": 583, "y2": 932, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1028, "y1": 544, "x2": 1050, "y2": 570, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 556, "x2": 266, "y2": 762, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 362, "y1": 540, "x2": 540, "y2": 633, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 702, "y1": 524, "x2": 823, "y2": 630, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 586, "y1": 545, "x2": 669, "y2": 563, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 513, "y1": 562, "x2": 748, "y2": 703, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..518be0036e8c24a97fae302fc9213fc512ea6eb9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 849, "y1": 511, "x2": 1065, "y2": 714, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1049, "y1": 523, "x2": 1113, "y2": 594, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 610, "x2": 518, "y2": 1037, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 549, "x2": 186, "y2": 643, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 314, "y1": 536, "x2": 516, "y2": 674, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 696, "y1": 515, "x2": 825, "y2": 626, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 575, "y1": 539, "x2": 663, "y2": 558, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 474, "y1": 558, "x2": 738, "y2": 714, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4f2f4f9aa93681852248c452c1f5f6d906edd5b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 853, "y1": 509, "x2": 1072, "y2": 716, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1049, "y1": 521, "x2": 1111, "y2": 591, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 636, "x2": 423, "y2": 1079, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 558, "x2": 164, "y2": 640, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 264, "y1": 535, "x2": 487, "y2": 684, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 684, "y1": 514, "x2": 825, "y2": 630, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 561, "y1": 538, "x2": 658, "y2": 562, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 426, "y1": 560, "x2": 725, "y2": 732, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bb1191551e6847e0c9bb3980d5d236330ab665c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 857, "y1": 509, "x2": 1081, "y2": 719, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1052, "y1": 520, "x2": 1108, "y2": 588, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 727, "x2": 291, "y2": 1079, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 634, "x2": 83, "y2": 761, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 208, "y1": 536, "x2": 447, "y2": 701, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 673, "y1": 515, "x2": 824, "y2": 636, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 543, "y1": 539, "x2": 648, "y2": 570, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 371, "y1": 564, "x2": 709, "y2": 755, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..97441761023058e1fbd8ad80eacb001ce893e425
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 858, "y1": 509, "x2": 1087, "y2": 725, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1053, "y1": 523, "x2": 1103, "y2": 588, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [18.087300116661936, 10.372918533626944, 0.6607263776459149], "size": [2.020888090133667, 5.045481204986572, 2.060394048690796], "instance_token": "e0a08bb072b15353"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 921, "x2": 77, "y2": 1079, "logit": 0.0, "location": [20.15671933675185, 3.6710949247935787, 0.43401556557728327], "size": [1.8587132692337036, 4.258074760437012, 1.4812052249908447], "instance_token": "a55fe9a650a35849"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [23.939078113995492, 7.467448238108773, 0.8514035588195838], "size": [1.9939532279968262, 4.555791854858398, 2.358588218688965], "instance_token": "37eba4fae62b5fb5"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 138, "y1": 537, "x2": 401, "y2": 719, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 657, "y1": 515, "x2": 821, "y2": 642, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 522, "y1": 541, "x2": 656, "y2": 606, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 303, "y1": 567, "x2": 688, "y2": 784, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..63faa7438ed23969be3debc8aa817472bb7111f1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 859, "y1": 510, "x2": 1093, "y2": 729, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1057, "y1": 524, "x2": 1100, "y2": 585, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 54, "y1": 542, "x2": 345, "y2": 738, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 644, "y1": 515, "x2": 816, "y2": 648, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 495, "y1": 543, "x2": 640, "y2": 616, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 225, "y1": 573, "x2": 665, "y2": 818, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f77223a67f432c9fac814490d8d3b3dbb31580a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 857, "y1": 511, "x2": 1099, "y2": 736, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1059, "y1": 523, "x2": 1096, "y2": 580, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 545, "x2": 286, "y2": 758, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 628, "y1": 515, "x2": 812, "y2": 656, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 458, "y1": 545, "x2": 626, "y2": 632, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 133, "y1": 581, "x2": 638, "y2": 858, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..759dc2a1f31099d07e5b3ec8cfd4d9b2082090ac
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 856, "y1": 511, "x2": 1106, "y2": 744, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1061, "y1": 523, "x2": 1098, "y2": 576, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 549, "x2": 214, "y2": 779, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 614, "y1": 516, "x2": 808, "y2": 665, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 427, "y1": 548, "x2": 612, "y2": 646, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 24, "y1": 590, "x2": 610, "y2": 906, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..72a4087c2b8ddbb636c9a14aeb01abfb1b2fc83f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 854, "y1": 509, "x2": 1116, "y2": 752, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [30.0618649488315, -2.3093076036893763, 0.7368575824548316], "size": [1.9948704242706299, 4.702582359313965, 2.040875196456909], "instance_token": "61a15459b5905053"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 557, "x2": 137, "y2": 692, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 599, "y1": 514, "x2": 803, "y2": 672, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 394, "y1": 548, "x2": 597, "y2": 655, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 597, "x2": 578, "y2": 960, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e40ed0e980b6446711b9da9896eac4b65d50351
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000016.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000016.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 849, "y1": 510, "x2": 1125, "y2": 763, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 592, "x2": 42, "y2": 647, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 581, "y1": 513, "x2": 797, "y2": 679, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 364, "y1": 549, "x2": 578, "y2": 662, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 604, "x2": 550, "y2": 1009, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1676, "y1": 716, "x2": 1919, "y2": 1076, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de6d52fdcc5b9b9beb03664d70c93ef34a32dcb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 839, "y1": 507, "x2": 1138, "y2": 780, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 564, "y1": 512, "x2": 791, "y2": 684, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 336, "y1": 550, "x2": 564, "y2": 667, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 604, "x2": 544, "y2": 1020, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1466, "y1": 612, "x2": 1919, "y2": 1049, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c7256e8d9eaa5689b4e007275ed4d29591a3553
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 826, "y1": 504, "x2": 1152, "y2": 801, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 552, "y1": 511, "x2": 788, "y2": 687, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 327, "y1": 549, "x2": 552, "y2": 668, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 602, "x2": 545, "y2": 1016, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1342, "y1": 585, "x2": 1823, "y2": 882, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..e882e7354d5b710865883bf9139abb2dcf05e855
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 813, "y1": 500, "x2": 1170, "y2": 820, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [48.80430771317333, -1.1942973787081428, 0.5270475393590459], "size": [1.8596413135528564, 4.485551357269287, 1.582993984222412], "instance_token": "b866cbf9caae5af6"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.90803854260594, 7.845393402501941, 0.5964832178506185], "size": [1.862325668334961, 4.550520420074463, 1.730870008468628], "instance_token": "7f5b1826c5bf5e04"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 553, "y1": 508, "x2": 787, "y2": 683, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 340, "y1": 546, "x2": 554, "y2": 662, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 601, "x2": 548, "y2": 1010, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1262, "y1": 566, "x2": 1599, "y2": 783, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..a49fcea817261eb5bf2ae0eed199ca3779c64bb6
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 802, "y1": 498, "x2": 1180, "y2": 837, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 571, "y1": 510, "x2": 793, "y2": 676, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 366, "y1": 545, "x2": 570, "y2": 657, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 598, "x2": 561, "y2": 990, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1204, "y1": 554, "x2": 1453, "y2": 722, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a48b4760ecd38919749571ff5d75535e18682b3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 798, "y1": 501, "x2": 1187, "y2": 847, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 600, "y1": 511, "x2": 802, "y2": 668, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 394, "y1": 545, "x2": 596, "y2": 651, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 595, "x2": 581, "y2": 953, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1171, "y1": 550, "x2": 1357, "y2": 688, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..054e333c19be7d1ea2074c0903ddf3757bcc64da
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 799, "y1": 502, "x2": 1188, "y2": 849, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 631, "y1": 514, "x2": 815, "y2": 656, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 434, "y1": 545, "x2": 614, "y2": 639, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 47, "y1": 588, "x2": 616, "y2": 899, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1145, "y1": 545, "x2": 1290, "y2": 661, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7e1722b7fef60a841a0417db92b61c0978d2afd
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 805, "y1": 503, "x2": 1182, "y2": 840, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 660, "y1": 514, "x2": 822, "y2": 643, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 474, "y1": 544, "x2": 633, "y2": 622, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 198, "y1": 579, "x2": 659, "y2": 835, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1123, "y1": 543, "x2": 1243, "y2": 639, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e76adb560e20791281df0e2b829eedd8419dbb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 816, "y1": 504, "x2": 1168, "y2": 820, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 686, "y1": 514, "x2": 828, "y2": 631, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 517, "y1": 542, "x2": 646, "y2": 589, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 331, "y1": 569, "x2": 698, "y2": 780, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1114, "y1": 540, "x2": 1205, "y2": 624, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 576, "y1": 526, "x2": 623, "y2": 556, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..09615d5b507784db3ff4748c34bd9e9b51691d72
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 826, "y1": 511, "x2": 1151, "y2": 806, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 708, "y1": 521, "x2": 837, "y2": 622, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 536, "y1": 546, "x2": 624, "y2": 568, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 439, "y1": 567, "x2": 732, "y2": 742, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1097, "y1": 544, "x2": 1176, "y2": 621, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 581, "y1": 533, "x2": 622, "y2": 555, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a1121c7d617f515cb0f629aca446232fe44647a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 837, "y1": 511, "x2": 1138, "y2": 786, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 729, "y1": 520, "x2": 845, "y2": 609, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 542, "y1": 545, "x2": 646, "y2": 596, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 520, "y1": 560, "x2": 759, "y2": 706, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1090, "y1": 542, "x2": 1156, "y2": 613, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..94f5e0d1fc5aa35692602f95f5880e933d7bb33a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 845, "y1": 513, "x2": 1126, "y2": 770, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 747, "y1": 522, "x2": 847, "y2": 609, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 561, "y1": 545, "x2": 650, "y2": 614, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 577, "y1": 557, "x2": 777, "y2": 682, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1081, "y1": 541, "x2": 1140, "y2": 607, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff7e24b0d278b9793a0bde4247cd9b540abaf61
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 849, "y1": 518, "x2": 1113, "y2": 760, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 759, "y1": 527, "x2": 853, "y2": 608, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 571, "y1": 548, "x2": 654, "y2": 614, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 614, "y1": 559, "x2": 786, "y2": 669, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1073, "y1": 545, "x2": 1125, "y2": 607, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 516, "y1": 540, "x2": 589, "y2": 591, "logit": 0.0, "location": [51.70894917240366, 13.357605658704415, -0.015905431801911618], "size": [1.9241387844085693, 4.5659308433532715, 1.6370314359664917], "instance_token": "1b7999164cb85cc7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..072e94684be82fe3c9b6f8d39b7cc40beaa5e9d0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 849, "y1": 519, "x2": 1100, "y2": 751, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 765, "y1": 528, "x2": 849, "y2": 606, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 572, "y1": 548, "x2": 657, "y2": 612, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 638, "y1": 556, "x2": 791, "y2": 657, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1062, "y1": 545, "x2": 1113, "y2": 605, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 518, "y1": 542, "x2": 578, "y2": 589, "logit": 0.0, "location": [51.70894917240366, 13.357605658704415, -0.015905431801911618], "size": [1.9241387844085693, 4.5659308433532715, 1.6370314359664917], "instance_token": "1b7999164cb85cc7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..e790a259763e3b8157300dc994f1a42a2457dfb1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 844, "y1": 518, "x2": 1086, "y2": 742, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 766, "y1": 526, "x2": 848, "y2": 598, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 564, "y1": 547, "x2": 656, "y2": 610, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 650, "y1": 554, "x2": 791, "y2": 647, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1049, "y1": 544, "x2": 1101, "y2": 602, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 503, "y1": 542, "x2": 550, "y2": 588, "logit": 0.0, "location": [51.70894917240366, 13.357605658704415, -0.015905431801911618], "size": [1.9241387844085693, 4.5659308433532715, 1.6370314359664917], "instance_token": "1b7999164cb85cc7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b593f1d48c646f2d034fe49c60ef3388e261a07
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 849, "y1": 516, "x2": 1086, "y2": 736, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 778, "y1": 525, "x2": 854, "y2": 592, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 564, "y1": 546, "x2": 662, "y2": 608, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 670, "y1": 549, "x2": 803, "y2": 636, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1052, "y1": 542, "x2": 1106, "y2": 599, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [62.21888047968969, 14.349978280370124, 0.5562045951755863], "size": [1.9278477430343628, 4.595536231994629, 1.7089039087295532], "instance_token": "fa0cf3fe0f635311"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 501, "y1": 541, "x2": 533, "y2": 576, "logit": 0.0, "location": [51.70894917240366, 13.357605658704415, -0.015905431801911618], "size": [1.9241387844085693, 4.5659308433532715, 1.6370314359664917], "instance_token": "1b7999164cb85cc7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aa9b59bebeee5eeaf02a6df6ffdaef826e5ea74
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000032.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..520790c6644b54ece08e540469cd6e146fa3aee3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 847, "y1": 513, "x2": 1078, "y2": 730, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 790, "y1": 522, "x2": 855, "y2": 584, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 544, "y1": 543, "x2": 642, "y2": 605, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 689, "y1": 544, "x2": 810, "y2": 626, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1071, "y1": 540, "x2": 1154, "y2": 598, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 324, "y1": 541, "x2": 553, "y2": 686, "logit": 0.0, "location": [19.418352033477277, 6.381614127312787, 0.4676858364546206], "size": [1.9241238832473755, 4.710412979125977, 1.6614590883255005], "instance_token": "7f5b1826c5bf5e04"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..e48b0fe9c62a80c17df32d876c088c9895e55386
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 846, "y1": 509, "x2": 1072, "y2": 721, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 797, "y1": 517, "x2": 862, "y2": 576, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 541, "y1": 539, "x2": 636, "y2": 600, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 695, "y1": 538, "x2": 813, "y2": 616, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1111, "y1": 536, "x2": 1217, "y2": 596, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 355, "y1": 537, "x2": 570, "y2": 671, "logit": 0.0, "location": [19.418352033477277, 6.381614127312787, 0.4676858364546206], "size": [1.9241238832473755, 4.710412979125977, 1.6614590883255005], "instance_token": "7f5b1826c5bf5e04"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6afc483f8ccc9ee46bdc2ecdc000260ae4245bf
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 841, "y1": 516, "x2": 1063, "y2": 723, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 799, "y1": 522, "x2": 862, "y2": 579, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 545, "y1": 543, "x2": 625, "y2": 605, "logit": 0.0, "location": [45.480341881513596, 8.58071699476568, 0.5384429700352484], "size": [1.8540090322494507, 4.57737922668457, 1.6113425493240356], "instance_token": "ea5b972ede505a5f"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 696, "y1": 543, "x2": 811, "y2": 620, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1178, "y1": 543, "x2": 1238, "y2": 602, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 386, "y1": 541, "x2": 587, "y2": 668, "logit": 0.0, "location": [19.418352033477277, 6.381614127312787, 0.4676858364546206], "size": [1.9241238832473755, 4.710412979125977, 1.6614590883255005], "instance_token": "7f5b1826c5bf5e04"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..38d0a566b5b5eb346c2f7446d96f45080c5739d9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000036.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000037.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..c989b67a3705aa99f80c45d4316b3488742734a9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000037.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000037.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 829, "y1": 508, "x2": 1037, "y2": 704, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 806, "y1": 514, "x2": 859, "y2": 568, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 702, "y1": 535, "x2": 807, "y2": 604, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 442, "y1": 530, "x2": 615, "y2": 644, "logit": 0.0, "location": [19.418352033477277, 6.381614127312787, 0.4676858364546206], "size": [1.9241238832473755, 4.710412979125977, 1.6614590883255005], "instance_token": "7f5b1826c5bf5e04"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 1621, "y1": 537, "x2": 1745, "y2": 572, "logit": 0.0, "location": [58.83815948013216, -24.946253673057072, 0.3824378304416314], "size": [1.9106247425079346, 4.88426399230957, 1.6247190237045288], "instance_token": "8ae5f381055e5651"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 1443, "y1": 533, "x2": 1706, "y2": 570, "logit": 0.0, "location": [55.42941413074732, -21.5177309733117, 0.4543177155283047], "size": [1.8404886722564697, 4.431023597717285, 1.5975067615509033], "instance_token": "a21364b2b9e65574"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1481, "y1": 532, "x2": 1655, "y2": 566, "logit": 0.0, "location": [62.29941650945693, -21.802736356388777, 0.4316963079763809], "size": [1.8924250602722168, 4.6205339431762695, 1.6544638872146606], "instance_token": "259e099ea4e157a4"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 14, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000038.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c29996e287af0b13985fff7900d05f014192781
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000038.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000038.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 832, "y1": 506, "x2": 1029, "y2": 693, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 814, "y1": 513, "x2": 864, "y2": 563, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 720, "y1": 532, "x2": 818, "y2": 597, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 467, "y1": 531, "x2": 631, "y2": 640, "logit": 0.0, "location": [19.418352033477277, 6.381614127312787, 0.4676858364546206], "size": [1.9241238832473755, 4.710412979125977, 1.6614590883255005], "instance_token": "7f5b1826c5bf5e04"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 1570, "y1": 533, "x2": 1760, "y2": 570, "logit": 0.0, "location": [58.83815948013216, -24.946253673057072, 0.3824378304416314], "size": [1.9106247425079346, 4.88426399230957, 1.6247190237045288], "instance_token": "8ae5f381055e5651"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 1566, "y1": 531, "x2": 1720, "y2": 567, "logit": 0.0, "location": [55.42941413074732, -21.5177309733117, 0.4543177155283047], "size": [1.8404886722564697, 4.431023597717285, 1.5975067615509033], "instance_token": "a21364b2b9e65574"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1517, "y1": 531, "x2": 1715, "y2": 564, "logit": 0.0, "location": [62.29941650945693, -21.802736356388777, 0.4316963079763809], "size": [1.8924250602722168, 4.6205339431762695, 1.6544638872146606], "instance_token": "259e099ea4e157a4"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "1"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000039.json b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b09939f13cba073a8b015b6d26fc1b9b7c6627c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/json_data/mask_000039.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000039.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 841, "y1": 515, "x2": 1030, "y2": 693, "logit": 0.0, "location": [18.750315064098686, 0.7110653549898416, 0.7322657735276152], "size": [2.1700332164764404, 5.429356575012207, 2.053920030593872], "instance_token": "67e7699a0e16548a"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 829, "y1": 523, "x2": 873, "y2": 561, "logit": 0.0, "location": [40.30547862453386, 4.957150176633149, 0.7882394628941256], "size": [2.0557916164398193, 4.962986946105957, 2.0252528190612793], "instance_token": "52d82117c3a255b2"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 750, "y1": 541, "x2": 837, "y2": 600, "logit": 0.0, "location": [29.543960953131318, 4.361619104107376, 0.5041174019024766], "size": [1.9098719358444214, 4.8121137619018555, 1.583428978919983], "instance_token": "4c9a32cc555955ef"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [25.76692542154342, 11.01255696779117, 0.4018038693284325], "size": [1.8440046310424805, 4.569250106811523, 1.5215692520141602], "instance_token": "f1d5f3ad66b058ab"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [5.306046845391393, -3.4989921430824324, 0.4497256888571428], "size": [1.8484784364700317, 4.681743144989014, 1.6321228742599487], "instance_token": "d3faeb0bcba55b03"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 497, "y1": 540, "x2": 652, "y2": 642, "logit": 0.0, "location": [19.418352033477277, 6.381614127312787, 0.4676858364546206], "size": [1.9241238832473755, 4.710412979125977, 1.6614590883255005], "instance_token": "7f5b1826c5bf5e04"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 1667, "y1": 541, "x2": 1803, "y2": 590, "logit": 0.0, "location": [58.83815948013216, -24.946253673057072, 0.3824378304416314], "size": [1.9106247425079346, 4.88426399230957, 1.6247190237045288], "instance_token": "8ae5f381055e5651"}, "18": {"instance_id": 18, "class_name": "vehicle", "x1": 1666, "y1": 542, "x2": 1781, "y2": 578, "logit": 0.0, "location": [55.42941413074732, -21.5177309733117, 0.4543177155283047], "size": [1.8404886722564697, 4.431023597717285, 1.5975067615509033], "instance_token": "a21364b2b9e65574"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1570, "y1": 541, "x2": 1767, "y2": 578, "logit": 0.0, "location": [62.29941650945693, -21.802736356388777, 0.4316963079763809], "size": [1.8924250602722168, 4.6205339431762695, 1.6544638872146606], "instance_token": "259e099ea4e157a4"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "1"}}
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/mask_data/mask_000000.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/mask_data/mask_000000.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000006/prompt.txt
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@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [3.47, 3.33, 3.19, 3.05]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.49, -1.27, -0.94, -1.5
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000006/response.txt
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index 0000000000000000000000000000000000000000..336500c8f48079fdd4aed775562b699421555914
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000006/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain safe distance, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the same lane
+    - Potential Effects: May slow down traffic
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 3): Orange vehicle in the adjacent lane
+    - Potential Effects: May merge into the current lane
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 5): Yellow vehicle in the adjacent lane
+    - Potential Effects: May merge into the current lane
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 8): Blue vehicle in the same lane
+    - Potential Effects: May slow down traffic
+    - Future Behavior: Likely to continue moving forward
+  - Object (ID 9): Green vehicle in the adjacent lane
+    - Potential Effects: May merge into the current lane
+    - Future Behavior: Likely to continue moving forward
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady speed due to moderate traffic conditions.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic is moderate, and there are no immediate obstacles or changes required. Maintaining a steady speed is appropriate.
+- **Driving Plan:** Continue moving forward while monitoring vehicles ID 1, 3, 5, 8, and 9 for any lane changes or sudden stops.
+
+*****Reflection:*****
+- **Self-Consistency:** The analysis and task planning are consistent. The ego car is in the correct lane, and the behavior aligns with the traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/prompt.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [3.05, 3.26, 3.15, 2.98]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.5, -1.73, -1.39, -1.22
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/response.txt
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index 0000000000000000000000000000000000000000..8aaeb9e1c21d1f7fcaf4325e9799dd0ca62a727f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000012/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Obey speed limits, maintain lane discipline, and avoid unnecessary lane changes.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in front, red, in the same lane.
+    - Potential Effects: May slow down or stop, affecting the ego car's speed.
+    - Future Behavior: Likely to maintain lane and speed.
+  - Object 3: Vehicle in the right lane, orange.
+    - Potential Effects: May merge or change lanes, requiring caution.
+    - Future Behavior: Likely to maintain lane.
+  - Object 8: Vehicle in the left lane, yellow.
+    - Potential Effects: May change lanes or speed, requiring attention.
+    - Future Behavior: Likely to maintain lane.
+  - Object 9: Vehicle in the left lane, blue.
+    - Potential Effects: May affect lane change decisions.
+    - Future Behavior: Likely to maintain lane.
+  - Object 10: Vehicle in the left lane, blue.
+    - Potential Effects: May affect lane change decisions.
+    - Future Behavior: Likely to maintain lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to the presence of vehicles ahead and no immediate need for lane changes.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction, with dashed lines indicating possible lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear ahead with no immediate obstacles or traffic lights, allowing for steady movement.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 1, 3, 8, 9, and 10 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No lane changes are necessary, and maintaining a constant speed is appropriate given the traffic conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ad0d96d7f30848c79e54346dd95bf97de273e7e8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd9772fd6a05d7fecc7f9aa0ec92ebb69ba0b9f030b49db2d7bb8e0888b797a
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b941349a5e69c0cdcb6b5acb042a11265b9bbe46
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8b3f5dd59b7c59353be54c9079aa115db831f16f94181ca6d4083efd632247e
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4677baa7b779ebd9d21ced7f3304cac06f1a397b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [2.98, 2.81, 2.65, 2.45]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.22, -1.35, -0.74, -1.33
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6223ec4dcd4304186892227668c558714bd8ac83
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000018/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain safe distance, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (black truck, center lane)
+    - Potential Effects: May slow down or stop, affecting forward movement.
+    - Future Behavior: Likely to continue straight, possibly slow down due to traffic.
+  - Object 9: Vehicle (white car, left lane)
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue straight.
+  - Object 10: Vehicle (orange car, left lane)
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue straight.
+  - Object 11: Vehicle (gray car, left lane)
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue straight.
+  - Object 13: Vehicle (blue car, right lane)
+    - Potential Effects: May change lanes or slow down.
+    - Future Behavior: Likely to continue straight.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a steady speed due to moderate traffic conditions.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** Traffic is moderate, and the ego car should maintain its lane and speed to ensure smooth flow.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles in the center lane (Object 1).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the center lane, and the plan is to maintain speed without lane changes.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ba17acddde530f4e90119a456615af0e657aa682
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db5174066e2cab4b36696c1bbba4b2a3b1e878a35d531a0971ead36aad0a434a
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..247919a66d2d7ca8cdecc07a349506c917134551
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:938112fc2c0ac11f3a9eb95dabd22965f4627449b7a0fcf04b58d9701e0f7ed0
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ca2d587063a87762bf65511ca252da192234d474
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [2.45, 1.5, 0.96, 1.02]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.33, -1.89, -1.42, -1.39
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..42ec2c56cc1e77573d799109bac12be3ffb3d56b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain safe distance, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 1): Red truck in the same lane
+    - Potential Effects: May slow down or stop, affecting the driving route.
+    - Future Behavior: Likely to continue moving forward at a slow pace.
+  - Object (ID 9): White SUV in adjacent lane
+    - Potential Effects: May merge into the current lane.
+    - Future Behavior: Likely to maintain its lane.
+  - Object (ID 11): Silver car in the left lane
+    - Potential Effects: May attempt to change lanes.
+    - Future Behavior: Likely to continue in its lane.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was maintaining a constant speed due to moderate traffic conditions.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The current traffic conditions and lane availability suggest maintaining the current lane and speed is optimal.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring the red truck (ID 1) for any changes in speed or lane position.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ea1f866e098b0467aed4c079856fb4e2d94ff0e5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61516baceedd67646e3a86abe67131677ef69d2cb9fdc7aa959974cff363f03c
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b1313c4e38097be05404ffe9be1d449252fe078d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05cc4d3d6eef5cdf53ee37f76af4abb3a5bc737e800bf1fbe6452b6446faa8c
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cbc6caefcac4b8bc6efcca6a733a8b01ae91bc12
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [1.02, 1.91, 3.33, 5.1]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.39, -1.25, -0.96, -1.28
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..754043120fda1a76fc1771e35e614ab377ad58ff
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, maintain safe distance from vehicles ahead.
+
+- **Notable Objects:**
+  - Object (ID 9): Vehicle, center lane, blue, no lights
+    - Potential Effects: May slow down or stop, requiring adjustment.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+  - Object (ID 11): Vehicle, center lane, white, no lights
+    - Potential Effects: May slow down or stop, requiring adjustment.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+  - Object (ID 13): Vehicle, right lane, black, no lights
+    - Potential Effects: May slow down or stop, requiring adjustment.
+    - Future Behavior: Likely to maintain current speed or slow down slightly.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear lanes and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane: Center lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with no immediate obstacles or traffic lights visible. Maintaining a constant speed is appropriate.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles ID 9 and ID 11 for any changes in behavior.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the future behavior and speed. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1a229f18aaac3885783f1d4fcd88180a3ff565b1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3c8589c537894f75c649880e64b6becd97dd61207def9c1175ed3a17893353
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a89c13f4a9796d92659f73aea16458369fc96ee5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e914298a4cc55966dbb55669c83435fdcc3ba33af12b2e9cc01a23e259e945
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a4be2e5f184521621ec2ea73297699f48e7c13ff
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [5.1, 6.61, 7.24, 7.39]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.28, -1.26, -1.22, -1.13
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eca735e92aba9574816aef180252b17855f34f41
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_00152_00504_scene_9/result/output_000036/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red, in the same lane)
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 10: Vehicle (blue, left lane)
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 11: Vehicle (green, right lane)
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 13: Vehicle (silver, right lane)
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 16: Vehicle (purple, left lane)
+    - Potential Effects: No immediate effect unless it changes lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and no notable objects are obstructing the path.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring Object 1 for any changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e16a061d3b95d7e64eeaa828da7ab67ea32503e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1299, "y1": 531, "x2": 1445, "y2": 590, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 1466, "y1": 505, "x2": 1791, "y2": 642, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 741, "y1": 561, "x2": 1033, "y2": 666, "logit": 0.0, "location": [24.93698635790497, 0.7059588725678623, 0.1403340928372927], "size": [1.9442330598831177, 4.972472190856934, 1.6730986833572388], "instance_token": "0c678152b02c535f"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 651, "y1": 560, "x2": 758, "y2": 620, "logit": 0.0, "location": [39.9398566223681, 6.096766013652086, -0.24193131263746182], "size": [1.9112645387649536, 4.912952899932861, 1.698024868965149], "instance_token": "86f1589120535e1c"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 431, "y1": 555, "x2": 515, "y2": 623, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 539, "x2": 268, "y2": 631, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 284, "y1": 564, "x2": 404, "y2": 606, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 546, "y1": 558, "x2": 613, "y2": 599, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 615, "y1": 559, "x2": 672, "y2": 604, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 509, "y1": 561, "x2": 555, "y2": 595, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..63fa011e3eff43d21dcddf4a660dff34c2ab0d43
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1296, "y1": 531, "x2": 1443, "y2": 591, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 1700, "y1": 498, "x2": 1919, "y2": 634, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1010, "y1": 558, "x2": 1368, "y2": 673, "logit": 0.0, "location": [24.93698635790497, 0.7059588725678623, 0.1403340928372927], "size": [1.9442330598831177, 4.972472190856934, 1.6730986833572388], "instance_token": "0c678152b02c535f"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 708, "y1": 559, "x2": 858, "y2": 627, "logit": 0.0, "location": [39.9398566223681, 6.096766013652086, -0.24193131263746182], "size": [1.9112645387649536, 4.912952899932861, 1.698024868965149], "instance_token": "86f1589120535e1c"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 434, "y1": 555, "x2": 524, "y2": 631, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 539, "x2": 220, "y2": 634, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 220, "y1": 564, "x2": 371, "y2": 611, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 522, "y1": 560, "x2": 590, "y2": 602, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 618, "y1": 559, "x2": 677, "y2": 608, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 512, "y1": 559, "x2": 533, "y2": 585, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f9b77ebb9f5575bc4b4e4206fb5eaf43da4110c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1343, "y1": 531, "x2": 1443, "y2": 573, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1387, "y1": 549, "x2": 1741, "y2": 673, "logit": 0.0, "location": [24.93698635790497, 0.7059588725678623, 0.1403340928372927], "size": [1.9442330598831177, 4.972472190856934, 1.6730986833572388], "instance_token": "0c678152b02c535f"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 794, "y1": 561, "x2": 982, "y2": 633, "logit": 0.0, "location": [39.9398566223681, 6.096766013652086, -0.24193131263746182], "size": [1.9112645387649536, 4.912952899932861, 1.698024868965149], "instance_token": "86f1589120535e1c"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 449, "y1": 553, "x2": 585, "y2": 639, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 544, "x2": 145, "y2": 626, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 234, "y1": 566, "x2": 329, "y2": 617, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 628, "y1": 562, "x2": 709, "y2": 614, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..81c6384bf9797531ccdaf9a9baa864173af08d6f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1297, "y1": 531, "x2": 1430, "y2": 591, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 1765, "y1": 538, "x2": 1919, "y2": 657, "logit": 0.0, "location": [24.93698635790497, 0.7059588725678623, 0.1403340928372927], "size": [1.9442330598831177, 4.972472190856934, 1.6730986833572388], "instance_token": "0c678152b02c535f"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 914, "y1": 560, "x2": 1145, "y2": 640, "logit": 0.0, "location": [39.9398566223681, 6.096766013652086, -0.24193131263746182], "size": [1.9112645387649536, 4.912952899932861, 1.698024868965149], "instance_token": "86f1589120535e1c"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 512, "y1": 550, "x2": 712, "y2": 653, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 547, "x2": 54, "y2": 634, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 174, "y1": 568, "x2": 273, "y2": 622, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 462, "y1": 563, "x2": 520, "y2": 611, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 679, "y1": 564, "x2": 768, "y2": 621, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 437, "y1": 564, "x2": 478, "y2": 606, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b12e8e26803a772b0e9f666191e8fd2981fcb89
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000004.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e1e4bff1f0791d8f62f8345f70a05180962b048
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1298, "y1": 531, "x2": 1440, "y2": 583, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1296, "y1": 550, "x2": 1584, "y2": 642, "logit": 0.0, "location": [39.9398566223681, 6.096766013652086, -0.24193131263746182], "size": [1.9112645387649536, 4.912952899932861, 1.698024868965149], "instance_token": "86f1589120535e1c"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 857, "y1": 544, "x2": 1211, "y2": 673, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 19, "y1": 571, "x2": 142, "y2": 637, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 523, "y1": 560, "x2": 602, "y2": 601, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 512, "y1": 561, "x2": 540, "y2": 589, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 432, "y1": 563, "x2": 511, "y2": 625, "logit": 0.0, "location": [42.88064876617864, 13.112316166167147, -0.5442022118368186], "size": [2.010498285293579, 4.84963846206665, 1.6500515937805176], "instance_token": "6c78c82736ba5b4c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [55.20882052415982, -17.95717614865862, 0.4472111889408552], "size": [1.98326575756073, 4.882081031799316, 1.9090204238891602], "instance_token": "5c546f18c5c85705"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..b018b5dfc3e2aee91c9e5118319100ffa9e64cc3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1351, "y1": 530, "x2": 1441, "y2": 557, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1542, "y1": 543, "x2": 1826, "y2": 636, "logit": 0.0, "location": [39.9398566223681, 6.096766013652086, -0.24193131263746182], "size": [1.9112645387649536, 4.912952899932861, 1.698024868965149], "instance_token": "86f1589120535e1c"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1167, "y1": 537, "x2": 1554, "y2": 674, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 572, "x2": 58, "y2": 639, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 508, "y1": 562, "x2": 566, "y2": 605, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 439, "y1": 566, "x2": 528, "y2": 631, "logit": 0.0, "location": [42.88064876617864, 13.112316166167147, -0.5442022118368186], "size": [2.010498285293579, 4.84963846206665, 1.6500515937805176], "instance_token": "6c78c82736ba5b4c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [55.20882052415982, -17.95717614865862, 0.4472111889408552], "size": [1.98326575756073, 4.882081031799316, 1.9090204238891602], "instance_token": "5c546f18c5c85705"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb177dc97aa8a76e60a8ea1062114db5d7998d36
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000007.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..45dd5ab0779ed7fd0efcc0bc5b1a7e4d5619eedb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1299, "y1": 531, "x2": 1442, "y2": 590, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 1846, "y1": 517, "x2": 1919, "y2": 651, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 549, "y1": 553, "x2": 600, "y2": 566, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 511, "y1": 566, "x2": 680, "y2": 652, "logit": 0.0, "location": [42.88064876617864, 13.112316166167147, -0.5442022118368186], "size": [2.010498285293579, 4.84963846206665, 1.6500515937805176], "instance_token": "6c78c82736ba5b4c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1533, "y1": 535, "x2": 1613, "y2": 578, "logit": 0.0, "location": [55.20882052415982, -17.95717614865862, 0.4472111889408552], "size": [1.98326575756073, 4.882081031799316, 1.9090204238891602], "instance_token": "5c546f18c5c85705"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1914, "y1": 543, "x2": 1919, "y2": 571, "logit": 0.0, "location": [33.35221379483119, -22.41588327952195, 0.8805953405390028], "size": [1.9139227867126465, 4.595370769500732, 1.6009528636932373], "instance_token": "851e7aaefdfd508d"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1082, "y1": 540, "x2": 1176, "y2": 581, "logit": 0.0, "location": [70.80924292467535, -7.470139850163832, -0.09351568689453416], "size": [2.0708577632904053, 4.9388203620910645, 1.9798702001571655], "instance_token": "5c546f18c5c85705"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..5db088daf67477a9c9d8732e926010fae2141c6f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 1299, "y1": 530, "x2": 1446, "y2": 591, "logit": 0.0, "location": [49.282705744728446, -12.718134984606877, 0.427698098392284], "size": [1.956039547920227, 4.950601577758789, 1.9917681217193604], "instance_token": "c9bcd6818b905b70"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [24.605357265565544, -11.172130204038695, 0.9468412372079911], "size": [2.198198080062866, 5.813024997711182, 2.2505719661712646], "instance_token": "bbd51cf42a935f4d"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.42616720404476, 12.490748250274919, -0.26586883464915445], "size": [2.122570514678955, 5.289888381958008, 1.8874180316925049], "instance_token": "53b9c9f175135359"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [34.22381994314492, 17.139351744786836, -0.23652634408063022], "size": [2.0504064559936523, 5.699950695037842, 2.2153408527374268], "instance_token": "6ed44a190b7b5bed"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [60.778733318671584, 23.784936205483973, -1.0888332203612663], "size": [2.1356194019317627, 5.346920967102051, 1.8251218795776367], "instance_token": "1eb998d1bbda5b2e"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 503, "y1": 553, "x2": 590, "y2": 604, "logit": 0.0, "location": [58.03185867331922, 14.11947833339218, -0.7289904291246785], "size": [1.9881727695465088, 4.893096446990967, 1.5925205945968628], "instance_token": "6c78c82736ba5b4c"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [51.987731924280524, 10.292410308960825, -0.5317766479274724], "size": [1.862817406654358, 4.58393669128418, 1.6482422351837158], "instance_token": "ec0a5419dbf45cca"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [67.80814568931237, 18.487764912773855, -1.042837075110583], "size": [1.9521865844726562, 4.751949787139893, 1.6785004138946533], "instance_token": "0b1b046f6f255934"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 609, "y1": 568, "x2": 837, "y2": 664, "logit": 0.0, "location": [42.88064876617864, 13.112316166167147, -0.5442022118368186], "size": [2.010498285293579, 4.84963846206665, 1.6500515937805176], "instance_token": "6c78c82736ba5b4c"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1445, "y1": 537, "x2": 1546, "y2": 580, "logit": 0.0, "location": [55.20882052415982, -17.95717614865862, 0.4472111889408552], "size": [1.98326575756073, 4.882081031799316, 1.9090204238891602], "instance_token": "5c546f18c5c85705"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [33.35221379483119, -22.41588327952195, 0.8805953405390028], "size": [1.9139227867126465, 4.595370769500732, 1.6009528636932373], "instance_token": "851e7aaefdfd508d"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1052, "y1": 542, "x2": 1123, "y2": 580, "logit": 0.0, "location": [70.80924292467535, -7.470139850163832, -0.09351568689453416], "size": [2.0708577632904053, 4.9388203620910645, 1.9798702001571655], "instance_token": "5c546f18c5c85705"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "63319"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..d458250339b217b9ec14cec6278d3941ef7f9975
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000010.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..864039f6b571774e8086019294b64db4feb38319
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..8007a06f643bcd45ce2825d9231038fd40124e27
--- /dev/null
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@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/mask_data/mask_000000.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/mask_data/mask_000000.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000006/prompt.txt
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@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -104.38, -105.39, -122.2, -121.38
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000006/response.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000006/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no crossing intersections during red lights.
+
+- **Notable Objects:**
+  - Object (ID 1): Red vehicle in the intersection
+    - Potential Effects: Blocking the path if the light turns green.
+    - Future Behavior: Likely to continue moving through the intersection.
+  - Object (ID 4): Orange vehicle waiting at the intersection
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+  - Object (ID 5): Yellow vehicle waiting at the intersection
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+  - Object (ID 11): Blue vehicle waiting at the intersection
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+  - Object (ID 12): Blue vehicle waiting at the intersection
+    - Potential Effects: May proceed when the light turns green.
+    - Future Behavior: Likely to move forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping until it turns green.
+- **Driving Plan:** Maintain current position until the light changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed are consistent with the red traffic light and the presence of vehicles in the intersection.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/prompt.txt
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@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [0.0, 0.0, 0.0, 0.0]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -121.38, -71.48, -123.55, -129.98
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f3467cf5283711da3ab8bc714348bf6419c28781
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_0/result/output_000012/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no crossing intersections during red lights.
+
+- **Notable Objects:**
+  - Object (ID 11): Vehicle, in the intersection, white color
+    - Potential Effects: May block the path if it doesn't clear the intersection.
+    - Future Behavior: Likely to continue moving to clear the intersection.
+  - Object (ID 1): Vehicle, waiting at the intersection, red color
+    - Potential Effects: Stationary, waiting for the light to change.
+    - Future Behavior: Will likely move forward when the light turns green.
+  - Object (ID 8): Vehicle, approaching the intersection, white color
+    - Potential Effects: May enter the intersection if the light changes.
+    - Future Behavior: Likely to stop if the light remains red.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, with dashed lane lines, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires the ego car to remain stopped until it turns green.
+- **Driving Plan:** Maintain current position and wait for the light to change. Monitor vehicles ID 11 and ID 1 for movement.
+
+*****Reflection:*****
+- **Self-Consistency:** The behavior and speed are consistent with the current traffic light status and notable objects.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1c1e59f1734fb25fb006b20e4d6ae575c8eccad
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 0, "y1": 566, "x2": 660, "y2": 845, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 792, "y1": 514, "x2": 840, "y2": 556, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 690, "y1": 511, "x2": 780, "y2": 583, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 206, "y1": 515, "x2": 351, "y2": 574, "logit": 0.0, "location": [46.00231944024563, 20.049760701484047, 0.6541408009215957], "size": [2.0148091316223145, 5.327948570251465, 2.0951807498931885], "instance_token": "6c906e70076f5f0f"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 562, "y1": 524, "x2": 590, "y2": 556, "logit": 0.0, "location": [72.77290375577286, 18.395282971905544, 0.5762970810592378], "size": [1.9010692834854126, 5.293348789215088, 1.6304068565368652], "instance_token": "bc22a8cf89df5032"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4c4c27924e898aeb15025b11c1daeec18b1daa
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 230, "y1": 571, "x2": 670, "y2": 833, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 786, "y1": 521, "x2": 833, "y2": 563, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 687, "y1": 519, "x2": 773, "y2": 591, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 100, "y1": 522, "x2": 177, "y2": 604, "logit": 0.0, "location": [46.00231944024563, 20.049760701484047, 0.6541408009215957], "size": [2.0148091316223145, 5.327948570251465, 2.0951807498931885], "instance_token": "6c906e70076f5f0f"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 498, "y1": 532, "x2": 524, "y2": 567, "logit": 0.0, "location": [72.77290375577286, 18.395282971905544, 0.5762970810592378], "size": [1.9010692834854126, 5.293348789215088, 1.6304068565368652], "instance_token": "bc22a8cf89df5032"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..d43cc26c2983ee161866070a3d49f929d3f0d27e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 258, "y1": 565, "x2": 674, "y2": 810, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 778, "y1": 516, "x2": 828, "y2": 558, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 679, "y1": 512, "x2": 766, "y2": 587, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.00231944024563, 20.049760701484047, 0.6541408009215957], "size": [2.0148091316223145, 5.327948570251465, 2.0951807498931885], "instance_token": "6c906e70076f5f0f"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 396, "y1": 526, "x2": 427, "y2": 563, "logit": 0.0, "location": [72.77290375577286, 18.395282971905544, 0.5762970810592378], "size": [1.9010692834854126, 5.293348789215088, 1.6304068565368652], "instance_token": "bc22a8cf89df5032"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ead0f9c4531de8ea02948b7696aa0f8d297b862
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 276, "y1": 561, "x2": 676, "y2": 804, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 770, "y1": 518, "x2": 822, "y2": 562, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 669, "y1": 515, "x2": 758, "y2": 589, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.00231944024563, 20.049760701484047, 0.6541408009215957], "size": [2.0148091316223145, 5.327948570251465, 2.0951807498931885], "instance_token": "6c906e70076f5f0f"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [72.77290375577286, 18.395282971905544, 0.5762970810592378], "size": [1.9010692834854126, 5.293348789215088, 1.6304068565368652], "instance_token": "bc22a8cf89df5032"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcecf8332347daffd584a042871a7542573cdd3d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 285, "y1": 560, "x2": 673, "y2": 793, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 759, "y1": 515, "x2": 815, "y2": 561, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 654, "y1": 511, "x2": 745, "y2": 589, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd4a99c9a9e7757c4b64d07eadc417160f12daca
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 286, "y1": 559, "x2": 669, "y2": 788, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 748, "y1": 516, "x2": 806, "y2": 562, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 638, "y1": 510, "x2": 732, "y2": 591, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..87b2a56d26704c6216894547db1cad6d0d3e50f3
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000006.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1dbef798e3df164c57e8dc6eee9bd21b8878408
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 274, "y1": 559, "x2": 657, "y2": 787, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 722, "y1": 514, "x2": 786, "y2": 568, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 592, "y1": 507, "x2": 701, "y2": 597, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..64c5d2a68e2f4db4617058731c490b48812eed44
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 264, "y1": 559, "x2": 653, "y2": 787, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 706, "y1": 514, "x2": 775, "y2": 569, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 568, "y1": 508, "x2": 683, "y2": 600, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1014, "y1": 520, "x2": 1071, "y2": 568, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 13, "ego_lane": "6"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5694b5fa4633f1eb729b10cfbcd525b6c2224e7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 257, "y1": 558, "x2": 653, "y2": 790, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 694, "y1": 513, "x2": 771, "y2": 574, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 550, "y1": 506, "x2": 669, "y2": 601, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1026, "y1": 522, "x2": 1089, "y2": 575, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "67456"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61f3270fb49b8f711d70ee931b57f3e88969c9c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 247, "y1": 559, "x2": 653, "y2": 791, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 677, "y1": 512, "x2": 760, "y2": 576, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 518, "y1": 503, "x2": 650, "y2": 605, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1039, "y1": 524, "x2": 1109, "y2": 580, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67456"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..b94283b51d63ba675bef5be86247b851c4861bc2
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 240, "y1": 551, "x2": 653, "y2": 793, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 655, "y1": 508, "x2": 746, "y2": 579, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 475, "y1": 499, "x2": 624, "y2": 601, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1048, "y1": 521, "x2": 1131, "y2": 585, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67456"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..184c29db680644dbdf2c1e139c6aa20de624a574
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 229, "y1": 559, "x2": 653, "y2": 801, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 624, "y1": 514, "x2": 726, "y2": 590, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 422, "y1": 502, "x2": 571, "y2": 566, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1066, "y1": 529, "x2": 1153, "y2": 601, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1038, "y1": 524, "x2": 1098, "y2": 578, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 744, "y1": 514, "x2": 808, "y2": 563, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 705, "y1": 514, "x2": 749, "y2": 559, "logit": 0.0, "location": [64.94681091280654, 9.694266603095457, 0.7010612864451105], "size": [1.9598493576049805, 4.595524311065674, 1.7807109355926514], "instance_token": "27b7764fa0115f11"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 797, "y1": 522, "x2": 835, "y2": 557, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 951, "y1": 527, "x2": 988, "y2": 556, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 879, "y1": 521, "x2": 921, "y2": 553, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67456"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d17521d527c46bee10a66e3e97d6c9372efc6c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 211, "y1": 559, "x2": 655, "y2": 815, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 586, "y1": 514, "x2": 702, "y2": 600, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 344, "y1": 504, "x2": 510, "y2": 564, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1083, "y1": 533, "x2": 1185, "y2": 616, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1041, "y1": 531, "x2": 1091, "y2": 580, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 724, "y1": 515, "x2": 795, "y2": 569, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 683, "y1": 515, "x2": 733, "y2": 561, "logit": 0.0, "location": [64.94681091280654, 9.694266603095457, 0.7010612864451105], "size": [1.9598493576049805, 4.595524311065674, 1.7807109355926514], "instance_token": "27b7764fa0115f11"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 790, "y1": 525, "x2": 825, "y2": 561, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 950, "y1": 527, "x2": 990, "y2": 559, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 874, "y1": 523, "x2": 920, "y2": 557, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67456"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5aab7accab30fce3e0a8eb356cba0c89e8054c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 187, "y1": 560, "x2": 653, "y2": 827, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 539, "y1": 512, "x2": 670, "y2": 611, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 201, "y1": 501, "x2": 424, "y2": 651, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1103, "y1": 532, "x2": 1226, "y2": 633, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1050, "y1": 531, "x2": 1099, "y2": 583, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 699, "y1": 514, "x2": 778, "y2": 572, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 651, "y1": 511, "x2": 703, "y2": 563, "logit": 0.0, "location": [64.94681091280654, 9.694266603095457, 0.7010612864451105], "size": [1.9598493576049805, 4.595524311065674, 1.7807109355926514], "instance_token": "27b7764fa0115f11"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 769, "y1": 524, "x2": 813, "y2": 563, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 949, "y1": 527, "x2": 990, "y2": 560, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 868, "y1": 522, "x2": 916, "y2": 558, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "18"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab16537fd5cf17f4c5c418f04d9316b5f27b9b1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 156, "y1": 571, "x2": 650, "y2": 851, "logit": 0.0, "location": [10.893409186508507, 3.191023518680595, 0.5127697208554309], "size": [1.9669214487075806, 5.310962677001953, 1.5704429149627686], "instance_token": "a9e085bf2b4a59ea"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 480, "y1": 516, "x2": 629, "y2": 617, "logit": 0.0, "location": [70.1085010888055, 6.412028510007076, 1.042004753537185], "size": [2.101351261138916, 4.790735721588135, 2.3364078998565674], "instance_token": "8e08fdd895485a58"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 30, "y1": 502, "x2": 317, "y2": 725, "logit": 0.0, "location": [42.27400542469695, 5.909487138269469, 0.8080763100679178], "size": [1.9773516654968262, 4.859731674194336, 2.1014058589935303], "instance_token": "11345fcc960457cf"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 1132, "y1": 537, "x2": 1287, "y2": 660, "logit": 0.0, "location": [59.139553755987436, -3.089664858067408, 0.6355762411094474], "size": [2.0609474182128906, 4.596333980560303, 1.8883702754974365], "instance_token": "25e18b6e6c8f53e8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 1060, "y1": 535, "x2": 1122, "y2": 593, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 670, "y1": 516, "x2": 759, "y2": 582, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 622, "y1": 514, "x2": 682, "y2": 571, "logit": 0.0, "location": [64.94681091280654, 9.694266603095457, 0.7010612864451105], "size": [1.9598493576049805, 4.595524311065674, 1.7807109355926514], "instance_token": "27b7764fa0115f11"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 751, "y1": 528, "x2": 801, "y2": 571, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 949, "y1": 529, "x2": 992, "y2": 565, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 861, "y1": 527, "x2": 911, "y2": 563, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "18"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b6f6685cdbb1b675f811c67c468f79ec5bbfeea
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000016.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d1996770caa48ffb0dbb7ed7d4ee6db087741f0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000017.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef063afdc5a8447b6c9bb67458cc552e6385db6e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000018.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..509951b8b709232db048f03d514b9e59c01f8c19
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000019.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..540e1b346dbba8219032495ff9dba88a933ba4ea
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000020.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..bef3421cfbffc712fd0b5f73c56c3ab6c2c2f736
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000021.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f56783ddd73319d0cc0e27f4e1e921d9634b588
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000022.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..3872958d424712da92d89b1816f2ee00170c8f49
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000023.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ad0c5d3462330200a64624e1a075407c7f0a3e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000024.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..66442c96e9266cd65f03a68e2c8b6f9309fa1b08
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000025.json
@@ -0,0 +1 @@
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..b57e76474aa70d8e3dc2ed1fe2a5363440ff5c11
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000026.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdb5cdd618bffb8a71d76889d107563aaf83badb
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000027.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..585dba90a555d734b5eb70f168b899931c2da45e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 154, "y1": 549, "x2": 448, "y2": 712, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 919, "y1": 529, "x2": 970, "y2": 569, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 684, "y1": 539, "x2": 818, "y2": 631, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1041, "y1": 527, "x2": 1109, "y2": 578, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 866, "y1": 520, "x2": 907, "y2": 555, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1169, "y1": 553, "x2": 1373, "y2": 684, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 1684, "y1": 777, "x2": 1919, "y2": 1079, "logit": 0.0, "location": [27.315813112538308, -3.58521101588849, 0.45088656611187616], "size": [1.8831652402877808, 4.670391082763672, 1.5152167081832886], "instance_token": "2b61579ab29056d2"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [43.482472327537835, 20.68418403819669, 0.3790470767307852], "size": [1.8840548992156982, 4.626059532165527, 1.6148614883422852], "instance_token": "919ec757d58e559f"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 240, "y1": 520, "x2": 343, "y2": 550, "logit": 0.0, "location": [67.43913344433531, 28.69526976707857, 0.6531407773290994], "size": [1.899223433825644, 4.639725714648495, 1.687476296343779], "instance_token": "7d115426d23d58c7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "67373"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8fe58f801a9a625f923623ee0967dd5d2b03f17
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 132, "y1": 554, "x2": 433, "y2": 718, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 903, "y1": 531, "x2": 956, "y2": 570, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 669, "y1": 542, "x2": 811, "y2": 638, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1036, "y1": 529, "x2": 1104, "y2": 581, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 863, "y1": 521, "x2": 904, "y2": 556, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1170, "y1": 556, "x2": 1385, "y2": 694, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.315813112538308, -3.58521101588849, 0.45088656611187616], "size": [1.8831652402877808, 4.670391082763672, 1.5152167081832886], "instance_token": "2b61579ab29056d2"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [43.482472327537835, 20.68418403819669, 0.3790470767307852], "size": [1.8840548992156982, 4.626059532165527, 1.6148614883422852], "instance_token": "919ec757d58e559f"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 205, "y1": 526, "x2": 308, "y2": 559, "logit": 0.0, "location": [67.43913344433531, 28.69526976707857, 0.6531407773290994], "size": [1.899223433825644, 4.639725714648495, 1.687476296343779], "instance_token": "7d115426d23d58c7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..e973beca990eb53f0e2eb9777a976edd33ffe280
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 124, "y1": 556, "x2": 425, "y2": 721, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 891, "y1": 531, "x2": 940, "y2": 569, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 658, "y1": 543, "x2": 807, "y2": 643, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1032, "y1": 529, "x2": 1099, "y2": 581, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 861, "y1": 523, "x2": 898, "y2": 556, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1170, "y1": 557, "x2": 1391, "y2": 698, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.315813112538308, -3.58521101588849, 0.45088656611187616], "size": [1.8831652402877808, 4.670391082763672, 1.5152167081832886], "instance_token": "2b61579ab29056d2"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [43.482472327537835, 20.68418403819669, 0.3790470767307852], "size": [1.8840548992156982, 4.626059532165527, 1.6148614883422852], "instance_token": "919ec757d58e559f"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 106, "y1": 544, "x2": 226, "y2": 645, "logit": 0.0, "location": [67.43913344433531, 28.69526976707857, 0.6531407773290994], "size": [1.899223433825644, 4.639725714648495, 1.687476296343779], "instance_token": "7d115426d23d58c7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "28"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..b90fc9be1016422baa347abf6bb041c0fa760e31
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"7": {"instance_id": 7, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [56.20921737840399, -3.636819156934507, 0.4286423983758141], "size": [1.9291826486587524, 4.698771953582764, 1.6011008024215698], "instance_token": "d5b9d571bccf53de"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [58.33730590157211, 6.770900522591546, 0.7613453429548827], "size": [2.096118688583374, 4.672886371612549, 1.9329833984375], "instance_token": "4cfb5cff05625121"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 124, "y1": 559, "x2": 421, "y2": 720, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 877, "y1": 534, "x2": 924, "y2": 570, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 652, "y1": 547, "x2": 804, "y2": 647, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1027, "y1": 531, "x2": 1093, "y2": 583, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 857, "y1": 525, "x2": 888, "y2": 558, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1168, "y1": 561, "x2": 1397, "y2": 709, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}, "20": {"instance_id": 20, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [27.315813112538308, -3.58521101588849, 0.45088656611187616], "size": [1.8831652402877808, 4.670391082763672, 1.5152167081832886], "instance_token": "2b61579ab29056d2"}, "21": {"instance_id": 21, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [43.482472327537835, 20.68418403819669, 0.3790470767307852], "size": [1.8840548992156982, 4.626059532165527, 1.6148614883422852], "instance_token": "919ec757d58e559f"}, "22": {"instance_id": 22, "class_name": "vehicle", "x1": 4, "y1": 552, "x2": 155, "y2": 655, "logit": 0.0, "location": [67.43913344433531, 28.69526976707857, 0.6531407773290994], "size": [1.899223433825644, 4.639725714648495, 1.687476296343779], "instance_token": "7d115426d23d58c7"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 2, "ego_lane": "63229"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e0114974bd8861bcdc21b43ab027237fdd7ffc
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"10": {"instance_id": 10, "class_name": "vehicle", "x1": 129, "y1": 562, "x2": 422, "y2": 719, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 865, "y1": 535, "x2": 910, "y2": 570, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 646, "y1": 549, "x2": 801, "y2": 653, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1020, "y1": 534, "x2": 1086, "y2": 584, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 854, "y1": 527, "x2": 884, "y2": 559, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1169, "y1": 565, "x2": 1401, "y2": 712, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "63229"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea854f279d1046675e0a921d734cb6ea5e0e4e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000033.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..c512bcc956d20d618db32b5b163be0aac39ba910
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"10": {"instance_id": 10, "class_name": "vehicle", "x1": 157, "y1": 558, "x2": 431, "y2": 709, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 847, "y1": 530, "x2": 888, "y2": 563, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 635, "y1": 548, "x2": 794, "y2": 655, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1010, "y1": 530, "x2": 1074, "y2": 581, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 848, "y1": 521, "x2": 877, "y2": 538, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1165, "y1": 563, "x2": 1406, "y2": 717, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "25"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee613511a97d8205dce67733bbc7d1b6cc12d12
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"10": {"instance_id": 10, "class_name": "vehicle", "x1": 182, "y1": 553, "x2": 442, "y2": 698, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 836, "y1": 525, "x2": 877, "y2": 558, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 633, "y1": 543, "x2": 790, "y2": 652, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 1004, "y1": 527, "x2": 1068, "y2": 576, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 844, "y1": 518, "x2": 875, "y2": 534, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1163, "y1": 560, "x2": 1405, "y2": 715, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "25"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d680e50dacac2b7ac70b1d1ef25ea2cd309e48f
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"10": {"instance_id": 10, "class_name": "vehicle", "x1": 216, "y1": 552, "x2": 458, "y2": 686, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 833, "y1": 526, "x2": 873, "y2": 556, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 634, "y1": 544, "x2": 788, "y2": 648, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 999, "y1": 528, "x2": 1060, "y2": 575, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 850, "y1": 517, "x2": 878, "y2": 542, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1161, "y1": 560, "x2": 1400, "y2": 714, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 741, "y1": 523, "x2": 788, "y2": 561, "logit": 0.0, "location": [66.71206772280857, 8.267768937861547, 0.49587167132267496], "size": [1.9997386932373047, 4.6037397384643555, 1.5735852718353271], "instance_token": "d20ee31aff545524"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 1234, "y1": 522, "x2": 1378, "y2": 555, "logit": 0.0, "location": [72.77188452007249, -16.158857173402794, 0.9744989469472785], "size": [2.0884251594543457, 7.2349066734313965, 1.9381839036941528], "instance_token": "d922e33ea347557d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "25": {"instance_id": 25, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "25"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000037.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cc8facdca31f8a4fdf09b265ac0f974b84df300
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000037.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000037.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"10": {"instance_id": 10, "class_name": "vehicle", "x1": 256, "y1": 549, "x2": 481, "y2": 675, "logit": 0.0, "location": [68.0255436655134, 6.46585874131415, 0.5271937069428532], "size": [1.828329086303711, 4.378323078155518, 1.6327050924301147], "instance_token": "7eb1cb215d1b5338"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 830, "y1": 525, "x2": 869, "y2": 554, "logit": 0.0, "location": [77.89103429345414, -0.2808705383213237, 0.45815951477015915], "size": [1.9038785696029663, 4.53532075881958, 1.579352617263794], "instance_token": "78cdcee5c23051b8"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 637, "y1": 544, "x2": 787, "y2": 645, "logit": 0.0, "location": [78.85722634149715, 3.1455072519602254, 0.6281865849887254], "size": [1.9043077230453491, 4.674769401550293, 1.7311838865280151], "instance_token": "80c3cc78fbed5952"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 994, "y1": 528, "x2": 1057, "y2": 575, "logit": 0.0, "location": [62.449004790745676, -3.6874544728780165, 0.5625267144059762], "size": [1.9606750011444092, 4.585999488830566, 1.7318710088729858], "instance_token": "fa047780b83c5421"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 846, "y1": 517, "x2": 876, "y2": 546, "logit": 0.0, "location": [75.10171168064699, 2.6943036735756323, 0.6398548371180368], "size": [1.9114127159118652, 4.482732772827148, 1.7628127336502075], "instance_token": "bc923dbb16b35f29"}, "19": {"instance_id": 19, "class_name": "vehicle", "x1": 1155, "y1": 557, "x2": 1388, "y2": 709, "logit": 0.0, "location": [36.63526634359732, -3.722723846556619, 0.519345820757735], "size": [1.8880244493484497, 4.751335144042969, 1.60154128074646], "instance_token": "e4924edc019d5275"}, "23": {"instance_id": 23, "class_name": "vehicle", "x1": 741, "y1": 521, "x2": 789, "y2": 559, "logit": 0.0, "location": [66.71206772280857, 8.267768937861547, 0.49587167132267496], "size": [1.9997386932373047, 4.6037397384643555, 1.5735852718353271], "instance_token": "d20ee31aff545524"}, "24": {"instance_id": 24, "class_name": "vehicle", "x1": 1262, "y1": 521, "x2": 1411, "y2": 556, "logit": 0.0, "location": [72.77188452007249, -16.158857173402794, 0.9744989469472785], "size": [2.0884251594543457, 7.2349066734313965, 1.9381839036941528], "instance_token": "d922e33ea347557d"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "56": {"instance_id": 56, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 14, "ego_lane": "63162"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000038.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..befd70393eb3f809635e9b442e8a906288878889
--- /dev/null
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000006/prompt.txt
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+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.47, 12.57, 12.3, 11.98]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.89, -0.97, -1.12, -0.93
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000006/response.txt
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+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of vehicles ahead.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the left lane, silver color
+    - Potential Effects: May slow down or change lanes
+    - Future Behavior: Likely to continue in the current lane
+  - Object 3: Vehicle in the center lane, white color
+    - Potential Effects: May slow down or maintain speed
+    - Future Behavior: Likely to continue in the current lane
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The road is clear, and the ego car is maintaining a steady speed in its lane.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and there are no immediate obstacles or traffic lights requiring a change in behavior.
+- **Driving Plan:** Continue moving forward at a constant speed, maintaining lane discipline.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. There are no conflicts.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f579203fb695aa76d77489ca36c7a5b5352f3d54e0b857ab899c7c5da75ce78
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6787a4087b402c99979175edd62e461a4377bc35
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [11.98, 11.64, 11.13, 10.29]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.93, -0.96, -1.09, -0.93
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85cd9953ecde88d96e9014fa7f718159df7abef7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000012/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow lane markings, obey traffic lights, maintain speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle, left lane, silver
+    - Potential Effects: May slow down or stop; affects lane change decisions.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle, center lane, white
+    - Potential Effects: May slow down or stop; affects speed and lane decisions.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle, right lane, orange
+    - Potential Effects: May slow down or stop; affects lane change decisions.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 6: Vehicle, right lane, green
+    - Potential Effects: May slow down or stop; affects lane change decisions.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles or notable events affecting the current path.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicles 1, 2, 3, and 6.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The ego car is in the center lane, and the plan is to continue moving forward without lane changes.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4e089fef38339d70e9939587e976dbb04a3800f1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e512d8d69a500721601180ba0e59840ab9c61c4dbdf6d93eb56f89f1a7dc2c3d
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c0f14364fc9a4693ff3a17de0e53dc7a66562fad
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8be38a265a37a71499771397a3c02a8bc475aecdfd3918cf1cf861bf25d7d318
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4914e7f95b8d87f2df2bf310be93aec2bc6ffe2
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [10.29, 9.7, 9.17, 8.84]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.93, -1.03, -1.22, -1.15
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..032eba0c429a2ce50b2b1ae42d358b8817932d56
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000018/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light and maintain lane discipline. Overtake only if safe and necessary.
+
+- **Notable Objects:**
+  - Object 1: Vehicle in the left lane, silver color
+    - Potential Effects: May slow down or change lanes
+    - Future Behavior: Likely to continue straight
+  - Object 2: Vehicle in the left lane, white color
+    - Potential Effects: May slow down or change lanes
+    - Future Behavior: Likely to continue straight
+  - Object 3: Vehicle in the left lane, red color
+    - Potential Effects: May slow down or change lanes
+    - Future Behavior: Likely to continue straight
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and the road is clear ahead. Continue moving forward at a constant speed.
+- **Driving Plan:** Maintain current lane and speed. Monitor vehicles 1, 2, and 3 for any sudden changes.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No conflicts detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..14ccd5e961f8c6abec68fd750062ac113e59e1a8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b311c8e772bf9688b4c88a2834bcb84452e9cea8bdb42f01c8b3684b92ce42
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d281b16c086e03bcfaf4f160e0fb5bad0c322221
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae17f8abde4cc7da109031da3d29e2ff9c6bfb1bced073f55ba85608ace38231
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9e09de53114f28cfbf79d66f823532a8946dfe2b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.84, 8.51, 8.23, 8.3]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.15, -0.96, -1.08, -1.22
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0ade421fabf1cf959967e7d5544fc62e0447f029
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000024/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object (ID 7): Vehicle, in the same lane, black color
+    - Potential Effects: Blocking the path; requires stopping.
+    - Future Behavior: Likely to remain stopped until the light turns green.
+  - Object (ID 8): Vehicle, adjacent lane, white color
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Likely to remain stopped.
+  - Object (ID 10): Vehicle, adjacent lane, silver color
+    - Potential Effects: No immediate effect unless changing lanes.
+    - Future Behavior: Likely to remain stopped.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A DECELERATION
+  - **Explanation:** Approaching a red light, requiring a reduction in speed to stop safely.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes if necessary.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping to comply with traffic rules.
+- **Driving Plan:** Stop behind the vehicle in front (ID 7) and wait for the light to change.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the planned behavior and speed. The ego car is in the correct lane, and the plan to stop is consistent with the red light and vehicle ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ee9babaefb24849a09cb7e44f446c6e2ea70a8da
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1306b0d3159dd148e61942cd9d380a2cbb0757da41caf0991e2bba4d5ca98e52
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b980a5a9b02112545e44b82cf6ef5eaebcfbcb12
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b0aaf23507013c920627958c791561a5d5d812967e05c7cedb9ff6340c30f0a
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ab15c77d278173b6a4634e5f55fd4c7ae17f5ca
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.3, 8.95, 9.33, 9.48]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.22, -1.07, -1.18, -1.09
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9235f4c18fd1bb83ad8ee7e28dd040e0aec4cbd
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000030/response.txt
@@ -0,0 +1,47 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Proceed through green light, maintain lane, obey speed limits.
+
+- **Notable Objects:**
+  - Object (ID: 12): Vehicle in the same lane, blue color
+    - Potential Effects: May slow down or stop, affecting speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID: 16): Vehicle in the left lane, blue color
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to continue moving forward.
+  - Object (ID: 19): Vehicle in the right lane, pink color
+    - Potential Effects: None, as it is in a different lane.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic and a green light.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The traffic light is green, and there are no immediate obstacles in the lane. Maintaining speed is safe and efficient.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring vehicle ID 12.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. No inconsistencies found.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7e10775fa5f654785378c76eaeebcd1fb189d95e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a86c0cafcbe63cb047c37cda86453a1912cf704cc8d46b5a685adebe47a2a38
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3d8f8cfb4424eb80a2c60aefd3628f346d4191e1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e77f6c739fdbaeb012086852f36c9961ec94c362eb8ec6ae1e3601de60168cf9
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7fdc31034af62802c62717bf36a04e6564185f52
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [9.48, 10.08, 10.68, 10.78]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.09, -1.15, -1.29, -1.23
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90b962ebbcfcaac6cc88e5dc92841949452ad8a8
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_3/result/output_000036/response.txt
@@ -0,0 +1,53 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, obey lane markings, and maintain speed limits.
+
+- **Notable Objects:**
+  - Object (ID: 10): Vehicle, left lane, black color
+    - Potential Effects: May block the path if it stops suddenly.
+    - Future Behavior: Likely to stop at the red light.
+  - Object (ID: 11): Vehicle, center lane, black color
+    - Potential Effects: Directly in front, will need to stop.
+    - Future Behavior: Likely to stop at the red light.
+  - Object (ID: 12): Vehicle, right lane, silver color
+    - Potential Effects: May block the path if it stops suddenly.
+    - Future Behavior: Likely to stop at the red light.
+  - Object (ID: 14): Vehicle, right lane, white color
+    - Potential Effects: May block the path if it stops suddenly.
+    - Future Behavior: Likely to stop at the red light.
+  - Object (ID: 19): Vehicle, far right lane, white color
+    - Potential Effects: Not in immediate path.
+    - Future Behavior: Likely to stop at the red light.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light ahead requires stopping to comply with traffic rules.
+- **Driving Plan:** Stop at the red light, considering the vehicles in front (IDs: 10, 11, 12, 14).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. The plan to stop is consistent with the red traffic light and vehicles ahead.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000000.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..e231b0da1afebb784f298869c1f306d92d6ca84a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000000.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000000.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 519, "y1": 507, "x2": 603, "y2": 569, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 755, "y1": 520, "x2": 818, "y2": 572, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 622, "y1": 523, "x2": 703, "y2": 576, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1026, "y1": 510, "x2": 1133, "y2": 632, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 870, "y1": 528, "x2": 921, "y2": 568, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 974, "y1": 531, "x2": 1028, "y2": 574, "logit": 0.0, "location": [54.5075949402526, -1.0906249567633495, 0.4624611945982906], "size": [1.9301481246948242, 4.634734153747559, 1.5830188989639282], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "3": {"instance_id": 3, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "7": {"instance_id": 7, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "8": {"instance_id": 8, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "3"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000001.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..644d3c4a5095e6c5ec900e7776adcc9b6b983909
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000001.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000001.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 484, "y1": 506, "x2": 566, "y2": 564, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 708, "y1": 515, "x2": 772, "y2": 565, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 609, "y1": 517, "x2": 679, "y2": 563, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 995, "y1": 505, "x2": 1110, "y2": 630, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 822, "y1": 524, "x2": 873, "y2": 562, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 929, "y1": 527, "x2": 985, "y2": 573, "logit": 0.0, "location": [54.5075949402526, -1.0906249567633495, 0.4624611945982906], "size": [1.9301481246948242, 4.634734153747559, 1.5830188989639282], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "6": {"instance_id": 6, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "68499"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000002.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..98a6bc7e4834dbf60abc5b795c5ce44c214a9f95
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000002.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000002.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 435, "y1": 503, "x2": 514, "y2": 559, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 649, "y1": 509, "x2": 712, "y2": 558, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 578, "y1": 511, "x2": 637, "y2": 552, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 934, "y1": 495, "x2": 1056, "y2": 626, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 759, "y1": 517, "x2": 808, "y2": 555, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 870, "y1": 519, "x2": 932, "y2": 569, "logit": 0.0, "location": [54.5075949402526, -1.0906249567633495, 0.4624611945982906], "size": [1.9301481246948242, 4.634734153747559, 1.5830188989639282], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "5": {"instance_id": 5, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "68499"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000003.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..7278c7c668226a98bc808b4ee570ae9fd6498bb1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000003.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000003.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 391, "y1": 516, "x2": 465, "y2": 568, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 596, "y1": 519, "x2": 659, "y2": 566, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 546, "y1": 522, "x2": 598, "y2": 557, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 865, "y1": 499, "x2": 992, "y2": 637, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 700, "y1": 527, "x2": 747, "y2": 562, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "6": {"instance_id": 6, "class_name": "vehicle", "x1": 812, "y1": 527, "x2": 873, "y2": 581, "logit": 0.0, "location": [54.5075949402526, -1.0906249567633495, 0.4624611945982906], "size": [1.9301481246948242, 4.634734153747559, 1.5830188989639282], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "1": {"instance_id": 1, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "68499"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000004.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..1195807fd84b2157c7d6d1237fce16d969988eb7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000004.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000004.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 365, "y1": 517, "x2": 435, "y2": 567, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 562, "y1": 523, "x2": 621, "y2": 567, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 529, "y1": 523, "x2": 565, "y2": 555, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 804, "y1": 505, "x2": 936, "y2": 649, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 659, "y1": 528, "x2": 704, "y2": 563, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 248, "y1": 517, "x2": 360, "y2": 564, "logit": 0.0, "location": [56.937646470498294, 23.691288816946326, 0.5846232091244019], "size": [2.090728282928467, 5.051260471343994, 1.7190126180648804], "instance_token": "4c5566f783135ef9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "11": {"instance_id": 11, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "10": {"instance_id": 10, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000005.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..75a0c1597932ea1abe809f8a9569735587644be5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000005.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000005.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 378, "y1": 487, "x2": 443, "y2": 535, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 567, "y1": 497, "x2": 622, "y2": 540, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 547, "y1": 498, "x2": 574, "y2": 528, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 776, "y1": 485, "x2": 912, "y2": 635, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 657, "y1": 503, "x2": 701, "y2": 537, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 262, "y1": 485, "x2": 340, "y2": 535, "logit": 0.0, "location": [56.937646470498294, 23.691288816946326, 0.5846232091244019], "size": [2.090728282928467, 5.051260471343994, 1.7190126180648804], "instance_token": "4c5566f783135ef9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "12": {"instance_id": 12, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "13": {"instance_id": 13, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "9": {"instance_id": 9, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "14": {"instance_id": 14, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 6, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000006.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e41910604270bf03dd1230cb4948804bcfc4cb2
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000006.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000006.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 425, "y1": 498, "x2": 487, "y2": 543, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 604, "y1": 510, "x2": 657, "y2": 550, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 594, "y1": 515, "x2": 606, "y2": 537, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 781, "y1": 500, "x2": 921, "y2": 656, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 689, "y1": 518, "x2": 733, "y2": 550, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 247, "y1": 493, "x2": 334, "y2": 548, "logit": 0.0, "location": [56.937646470498294, 23.691288816946326, 0.5846232091244019], "size": [2.090728282928467, 5.051260471343994, 1.7190126180648804], "instance_token": "4c5566f783135ef9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000007.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..3291c26060414f965fcec86a457e4d260b87f413
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000007.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000007.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 486, "y1": 497, "x2": 541, "y2": 540, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 655, "y1": 509, "x2": 703, "y2": 547, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 799, "y1": 500, "x2": 944, "y2": 662, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "5": {"instance_id": 5, "class_name": "vehicle", "x1": 734, "y1": 516, "x2": 775, "y2": 549, "logit": 0.0, "location": [57.44488533353433, 2.5994698472786695, 0.5193119957293675], "size": [1.9730397462844849, 4.534970760345459, 1.6357061862945557], "instance_token": "ed375dba713c5db8"}, "7": {"instance_id": 7, "class_name": "vehicle", "x1": 238, "y1": 491, "x2": 337, "y2": 548, "logit": 0.0, "location": [56.937646470498294, 23.691288816946326, 0.5846232091244019], "size": [2.090728282928467, 5.051260471343994, 1.7190126180648804], "instance_token": "4c5566f783135ef9"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"15": {"instance_id": 15, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "16": {"instance_id": 16, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "17": {"instance_id": 17, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "18": {"instance_id": 18, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "22": {"instance_id": 22, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "20": {"instance_id": 20, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "23": {"instance_id": 23, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "19": {"instance_id": 19, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000008.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a0d301862fb85b2066b222a5928f631870a425
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000008.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000008.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 546, "y1": 505, "x2": 598, "y2": 546, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 705, "y1": 518, "x2": 750, "y2": 553, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 819, "y1": 507, "x2": 973, "y2": 678, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 969, "y1": 524, "x2": 1089, "y2": 608, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "2": {"instance_id": 2, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "28": {"instance_id": 28, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "29": {"instance_id": 29, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "30": {"instance_id": 30, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "24": {"instance_id": 24, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "32": {"instance_id": 32, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000009.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..97609befce6bc64f8b525b5f9ae37b5c7af0398e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000009.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000009.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 602, "y1": 493, "x2": 651, "y2": 531, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 751, "y1": 506, "x2": 794, "y2": 539, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 844, "y1": 492, "x2": 1007, "y2": 675, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1063, "y1": 519, "x2": 1158, "y2": 602, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "34": {"instance_id": 34, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "35": {"instance_id": 35, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "36": {"instance_id": 36, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "37": {"instance_id": 37, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "38": {"instance_id": 38, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 12, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000010.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eeb93340bb90739f530a06413e53d1b62acf391
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000010.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000010.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 641, "y1": 497, "x2": 688, "y2": 533, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 780, "y1": 507, "x2": 822, "y2": 540, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 868, "y1": 492, "x2": 1052, "y2": 687, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1171, "y1": 526, "x2": 1226, "y2": 554, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "33": {"instance_id": 33, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "39": {"instance_id": 39, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "40": {"instance_id": 40, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "42": {"instance_id": 42, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 11, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000011.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000011.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d0e488e6b7db37a4f4aa54a6570afb824a0303
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000011.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000011.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 671, "y1": 502, "x2": 713, "y2": 535, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 803, "y1": 512, "x2": 842, "y2": 543, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 896, "y1": 492, "x2": 1115, "y2": 700, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1289, "y1": 533, "x2": 1466, "y2": 552, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"25": {"instance_id": 25, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "26": {"instance_id": 26, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000012.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d234baeb2de9c1aa86c2432c219bfd19135270a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000012.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000012.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 696, "y1": 500, "x2": 736, "y2": 532, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 819, "y1": 510, "x2": 855, "y2": 539, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 937, "y1": 483, "x2": 1198, "y2": 708, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1597, "y1": 531, "x2": 1612, "y2": 543, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000013.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ea1456acb41b71354e1f11189811fef97166f0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000013.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000013.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 706, "y1": 499, "x2": 749, "y2": 530, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 824, "y1": 509, "x2": 859, "y2": 537, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 994, "y1": 477, "x2": 1297, "y2": 721, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1499, "y1": 525, "x2": 1574, "y2": 553, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "44": {"instance_id": 44, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "27": {"instance_id": 27, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "4": {"instance_id": 4, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "43": {"instance_id": 43, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "21": {"instance_id": 21, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "46": {"instance_id": 46, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "41": {"instance_id": 41, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 9, "ego_lane": "4"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000014.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d70251efb6d39f19baea35fc574ee396cb3641
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000014.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000014.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 703, "y1": 516, "x2": 740, "y2": 544, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 816, "y1": 524, "x2": 850, "y2": 551, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1070, "y1": 490, "x2": 1416, "y2": 757, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1517, "y1": 543, "x2": 1611, "y2": 580, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "49": {"instance_id": 49, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "31": {"instance_id": 31, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "50": {"instance_id": 50, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "51": {"instance_id": 51, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000015.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000015.json
new file mode 100644
index 0000000000000000000000000000000000000000..add464316c1517edfa035446a5e405261a09aec0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000015.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000015.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 680, "y1": 497, "x2": 714, "y2": 529, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 787, "y1": 511, "x2": 820, "y2": 536, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1160, "y1": 472, "x2": 1550, "y2": 767, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1511, "y1": 530, "x2": 1607, "y2": 558, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"45": {"instance_id": 45, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "52": {"instance_id": 52, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "48": {"instance_id": 48, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "53": {"instance_id": 53, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "54": {"instance_id": 54, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "55": {"instance_id": 55, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "67217"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000016.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000016.json
new file mode 100644
index 0000000000000000000000000000000000000000..e51f1d97bf59b54b04212eb61af2d5cf9fce9702
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000016.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000017.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f459a91f33677061fc14ebdcf87dbf7970a2f49
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000017.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 495, "x2": 123, "y2": 551, "logit": 0.0, "location": [30.481675028335303, 16.376078576722648, 1.4173905154239037], "size": [0.9960082996387651, 2.6269437719268844, 1.720262588465507], "instance_token": "ce4814ebcaa458c6"}}}, "car": null, "vehicle": {"mask_name": "mask_000017.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 571, "y1": 528, "x2": 604, "y2": 554, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 669, "y1": 539, "x2": 700, "y2": 564, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1374, "y1": 515, "x2": 1835, "y2": 870, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1438, "y1": 521, "x2": 1489, "y2": 589, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 484, "y1": 524, "x2": 529, "y2": 558, "logit": 0.0, "location": [73.32149039302021, 18.97508974513039, 1.2257753620797303], "size": [2.023660182952881, 4.905864238739014, 1.7989652156829834], "instance_token": "d8002b2ae6f0530c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "60": {"instance_id": 60, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "63": {"instance_id": 63, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "47"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000018.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..428692269a90bbdc862c5df503ec7d1a8a7f1186
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000018.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [30.481675028335303, 16.376078576722648, 1.4173905154239037], "size": [0.9960082996387651, 2.6269437719268844, 1.720262588465507], "instance_token": "ce4814ebcaa458c6"}}}, "car": null, "vehicle": {"mask_name": "mask_000018.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 473, "y1": 519, "x2": 499, "y2": 545, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 563, "y1": 528, "x2": 591, "y2": 553, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1492, "y1": 519, "x2": 1919, "y2": 898, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1340, "y1": 576, "x2": 1445, "y2": 600, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 403, "y1": 516, "x2": 434, "y2": 547, "logit": 0.0, "location": [73.32149039302021, 18.97508974513039, 1.2257753620797303], "size": [2.023660182952881, 4.905864238739014, 1.7989652156829834], "instance_token": "d8002b2ae6f0530c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "65": {"instance_id": 65, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "62": {"instance_id": 62, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "47"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000019.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..810907a2fd1762a07cbe85eb432467f7e2ff9ce9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000019.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "bicycle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [30.481675028335303, 16.376078576722648, 1.4173905154239037], "size": [0.9960082996387651, 2.6269437719268844, 1.720262588465507], "instance_token": "ce4814ebcaa458c6"}}}, "car": null, "vehicle": {"mask_name": "mask_000019.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 322, "y1": 493, "x2": 346, "y2": 518, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 417, "y1": 505, "x2": 433, "y2": 527, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1595, "y1": 523, "x2": 1919, "y2": 913, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1191, "y1": 560, "x2": 1323, "y2": 586, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "9": {"instance_id": 9, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [73.32149039302021, 18.97508974513039, 1.2257753620797303], "size": [2.023660182952881, 4.905864238739014, 1.7989652156829834], "instance_token": "d8002b2ae6f0530c"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"66": {"instance_id": 66, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "67": {"instance_id": 67, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "68": {"instance_id": 68, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "65": {"instance_id": 65, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "61": {"instance_id": 61, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "47"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000020.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11efc30a9453e6e91de25af9faa23fea65c5a0e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000020.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000020.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 150, "y1": 463, "x2": 171, "y2": 486, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 226, "y1": 473, "x2": 254, "y2": 495, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1706, "y1": 522, "x2": 1919, "y2": 886, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 1010, "y1": 532, "x2": 1129, "y2": 559, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1268, "y1": 563, "x2": 1480, "y2": 625, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1241, "y1": 543, "x2": 1364, "y2": 604, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1524, "y1": 552, "x2": 1743, "y2": 631, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"47": {"instance_id": 47, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "69": {"instance_id": 69, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "71": {"instance_id": 71, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "72": {"instance_id": 72, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "73": {"instance_id": 73, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "47"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000021.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..74442f713e705951767c90992654aa81829a836b
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000021.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000021.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 34, "y1": 456, "x2": 61, "y2": 480, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1812, "y1": 625, "x2": 1919, "y2": 879, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 803, "y1": 528, "x2": 927, "y2": 557, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 1081, "y1": 565, "x2": 1298, "y2": 631, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 1049, "y1": 542, "x2": 1182, "y2": 603, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1347, "y1": 556, "x2": 1571, "y2": 639, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"74": {"instance_id": 74, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "47": {"instance_id": 47, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "64": {"instance_id": 64, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "75": {"instance_id": 75, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "70": {"instance_id": 70, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "47"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000022.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e99aa3b007dfda30015ebbc8161cd5af21a5e4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000022.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000022.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 1878, "y1": 692, "x2": 1919, "y2": 872, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 562, "y1": 533, "x2": 694, "y2": 565, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 851, "y1": 569, "x2": 1079, "y2": 638, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 818, "y1": 545, "x2": 956, "y2": 618, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 1113, "y1": 558, "x2": 1364, "y2": 644, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"76": {"instance_id": 76, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "77": {"instance_id": 77, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "78": {"instance_id": 78, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "75": {"instance_id": 75, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "79": {"instance_id": 79, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "67176"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000023.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce90e8cbd763d85ea831aafba568c4159c7b9f4
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000023.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000023.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"1": {"instance_id": 1, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [47.81003713095561, 12.209198521450162, 1.0740306709794822], "size": [2.0705416202545166, 5.0641045570373535, 2.1967732906341553], "instance_token": "8e08fdd895485a58"}, "2": {"instance_id": 2, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [50.88841773150489, 5.6948941049631685, 0.7036136276146863], "size": [2.0163357257843018, 4.721173286437988, 1.7147799730300903], "instance_token": "c8bd0b1177435ab6"}, "3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 331, "y1": 534, "x2": 473, "y2": 569, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 631, "y1": 564, "x2": 867, "y2": 635, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 593, "y1": 541, "x2": 740, "y2": 616, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 941, "y1": 549, "x2": 1164, "y2": 635, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"78": {"instance_id": 78, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "79": {"instance_id": 79, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 2, "ego_lane": "67176"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000024.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..b22a8893f862c5aa068642b46c7e061291f66272
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000024.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000024.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 92, "y1": 515, "x2": 233, "y2": 556, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 394, "y1": 548, "x2": 642, "y2": 621, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 354, "y1": 523, "x2": 515, "y2": 602, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 723, "y1": 532, "x2": 951, "y2": 621, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1788, "y1": 567, "x2": 1919, "y2": 612, "logit": 0.0, "location": [57.9194196537137, -32.284506554249674, -0.6084400928521063], "size": [1.9126988649368286, 4.803250789642334, 1.646823763847351], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"80": {"instance_id": 80, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "81": {"instance_id": 81, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "79": {"instance_id": 79, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "67176"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000025.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb52d1f89559bbb0ca98ad9662561b7f957df2c1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000025.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000025.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 116, "y1": 526, "x2": 368, "y2": 605, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 68, "y1": 504, "x2": 244, "y2": 589, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 456, "y1": 504, "x2": 694, "y2": 599, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1499, "y1": 532, "x2": 1649, "y2": 576, "logit": 0.0, "location": [57.9194196537137, -32.284506554249674, -0.6084400928521063], "size": [1.9126988649368286, 4.803250789642334, 1.646823763847351], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"80": {"instance_id": 80, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "79": {"instance_id": 79, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "82": {"instance_id": 82, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 3, "ego_lane": "67176"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000026.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..de202a1641044b2de916d29228273029e872787a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000026.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000026.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 542, "x2": 22, "y2": 595, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 130, "y1": 499, "x2": 359, "y2": 600, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 1223, "y1": 523, "x2": 1488, "y2": 576, "logit": 0.0, "location": [57.9194196537137, -32.284506554249674, -0.6084400928521063], "size": [1.9126988649368286, 4.803250789642334, 1.646823763847351], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"83": {"instance_id": 83, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "84": {"instance_id": 84, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "85": {"instance_id": 85, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "86": {"instance_id": 86, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "80": {"instance_id": 80, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "87": {"instance_id": 87, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "88": {"instance_id": 88, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "89": {"instance_id": 89, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "90": {"instance_id": 90, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "91": {"instance_id": 91, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "67176"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000027.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1f687c73aaab1274838e040e96fb670a59820e0
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000027.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000027.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "8": {"instance_id": 8, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [33.38203918375075, -2.248229589080438, 0.6388117327660439], "size": [1.9234836101531982, 4.5053791999816895, 1.663352608680725], "instance_token": "33f328201db955e8"}, "10": {"instance_id": 10, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [36.05736071849242, -8.716837179032154, 0.057360444667210686], "size": [1.882501244544983, 4.9359941482543945, 1.6270101070404053], "instance_token": "31c5612256185270"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "12": {"instance_id": 12, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [37.17214379366487, -16.000538027728908, -0.07031912279853714], "size": [2.0207760334014893, 5.040149688720703, 1.782578468322754], "instance_token": "6d4a22cb0e4a5535"}, "13": {"instance_id": 13, "class_name": "vehicle", "x1": 925, "y1": 530, "x2": 1137, "y2": 580, "logit": 0.0, "location": [57.9194196537137, -32.284506554249674, -0.6084400928521063], "size": [1.9126988649368286, 4.803250789642334, 1.646823763847351], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"83": {"instance_id": 83, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "92": {"instance_id": 92, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "88": {"instance_id": 88, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "86": {"instance_id": 86, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "80": {"instance_id": 80, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "87": {"instance_id": 87, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "93": {"instance_id": 93, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "89": {"instance_id": 89, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "87"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000028.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..703e8e2675d423b9c76b1905b190d6a5d970d9a1
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000028.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000028.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 74, "y1": 507, "x2": 276, "y2": 573, "logit": 0.0, "location": [40.389834663816146, 19.74060273822397, 0.7647359034890542], "size": [2.0539352893829346, 4.7601776123046875, 2.089158058166504], "instance_token": "5f5b083f597158c6"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 503, "x2": 68, "y2": 605, "logit": 0.0, "location": [32.64431028881518, 20.8587076254189, 0.6922907498519635], "size": [2.0419387817382812, 4.859748840332031, 2.125455141067505], "instance_token": "8d93f41b52285a34"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 467, "y1": 526, "x2": 590, "y2": 560, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 262, "y1": 506, "x2": 412, "y2": 559, "logit": 0.0, "location": [53.53961058102141, 20.78772042412311, 0.9540028245392023], "size": [1.9361084699630737, 4.696431636810303, 1.9396016597747803], "instance_token": "dc6c6e3f1c0e5c07"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"94": {"instance_id": 94, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "86": {"instance_id": 86, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "80": {"instance_id": 80, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "87": {"instance_id": 87, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "93": {"instance_id": 93, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "97": {"instance_id": 97, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "89": {"instance_id": 89, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "98": {"instance_id": 98, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 10, "ego_lane": "87"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000029.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da0158fbe45696af5cbc6fee353fc4d40cf4566
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000029.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000029.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.389834663816146, 19.74060273822397, 0.7647359034890542], "size": [2.0539352893829346, 4.7601776123046875, 2.089158058166504], "instance_token": "5f5b083f597158c6"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.64431028881518, 20.8587076254189, 0.6922907498519635], "size": [2.0419387817382812, 4.859748840332031, 2.125455141067505], "instance_token": "8d93f41b52285a34"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 132, "y1": 531, "x2": 229, "y2": 565, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 513, "x2": 156, "y2": 568, "logit": 0.0, "location": [53.53961058102141, 20.78772042412311, 0.9540028245392023], "size": [1.9361084699630737, 4.696431636810303, 1.9396016597747803], "instance_token": "dc6c6e3f1c0e5c07"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"96": {"instance_id": 96, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "93": {"instance_id": 93, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "97": {"instance_id": 97, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "68364"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000030.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0020efd809a00c47f1be56195dca2b0441b3e1d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000030.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000030.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.389834663816146, 19.74060273822397, 0.7647359034890542], "size": [2.0539352893829346, 4.7601776123046875, 2.089158058166504], "instance_token": "5f5b083f597158c6"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.64431028881518, 20.8587076254189, 0.6922907498519635], "size": [2.0419387817382812, 4.859748840332031, 2.125455141067505], "instance_token": "8d93f41b52285a34"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 535, "x2": 87, "y2": 568, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.53961058102141, 20.78772042412311, 0.9540028245392023], "size": [1.9361084699630737, 4.696431636810303, 1.9396016597747803], "instance_token": "dc6c6e3f1c0e5c07"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"96": {"instance_id": 96, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "99": {"instance_id": 99, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "100": {"instance_id": 100, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 4, "ego_lane": "68364"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000031.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..5475ddebffe629c56592987132b9db40733925ee
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000031.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000031.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"3": {"instance_id": 3, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [44.79796230606735, 8.548882130766287, 0.6953307823441719], "size": [1.9567451477050781, 4.910231590270996, 1.6028560400009155], "instance_token": "c2f965c45f8f5e51"}, "4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "11": {"instance_id": 11, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [46.80139317782596, -9.510066884569824, 0.2231150533334585], "size": [1.8810631036758423, 4.65261173248291, 2.0014829635620117], "instance_token": "59e2722e00b450d3"}, "14": {"instance_id": 14, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [40.389834663816146, 19.74060273822397, 0.7647359034890542], "size": [2.0539352893829346, 4.7601776123046875, 2.089158058166504], "instance_token": "5f5b083f597158c6"}, "15": {"instance_id": 15, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [32.64431028881518, 20.8587076254189, 0.6922907498519635], "size": [2.0419387817382812, 4.859748840332031, 2.125455141067505], "instance_token": "8d93f41b52285a34"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 543, "x2": 20, "y2": 564, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}, "17": {"instance_id": 17, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [53.53961058102141, 20.78772042412311, 0.9540028245392023], "size": [1.9361084699630737, 4.696431636810303, 1.9396016597747803], "instance_token": "dc6c6e3f1c0e5c07"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"96": {"instance_id": 96, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "99": {"instance_id": 99, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "102": {"instance_id": 102, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "68364"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000032.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..086e05280a97a5bed58f27552004ab2c2a19e5b5
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000032.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000032.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "103": {"instance_id": 103, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "102": {"instance_id": 102, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000033.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000033.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cbcb1f43dee78693038aa525dcaa492d9e1892d
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000033.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000033.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "103": {"instance_id": 103, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "102": {"instance_id": 102, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000034.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000034.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5047bd4dd091bab58e995b1c26e37e54947c007
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000034.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000034.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "103": {"instance_id": 103, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "104": {"instance_id": 104, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000035.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000035.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc392f750dd78ae35c6bf26b80fa559ea52a9ca7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000035.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000035.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "103": {"instance_id": 103, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "104": {"instance_id": 104, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 5, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000036.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000036.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9dd4a1f94aaf5a32861ed3ffdfb74f659827e29
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000036.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000036.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "105": {"instance_id": 105, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "106": {"instance_id": 106, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "107": {"instance_id": 107, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "108": {"instance_id": 108, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "104": {"instance_id": 104, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000037.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000037.json
new file mode 100644
index 0000000000000000000000000000000000000000..f359d5fcd82cbf7109daf306b56c5da50a7cce07
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000037.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000037.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "109": {"instance_id": 109, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "110": {"instance_id": 110, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "111": {"instance_id": 111, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "104": {"instance_id": 104, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 7, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000038.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000038.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9a32308a332b4dcee7579e7ae1b2958dbf99bcf
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000038.json
@@ -0,0 +1 @@
+{"construction": null, "pedestrian": null, "trailer": null, "truck": null, "bus": null, "motorcycle": null, "bicycle": null, "car": null, "vehicle": {"mask_name": "mask_000038.npy", "mask_height": 1080, "mask_width": 1920, "promote_type": "mask", "labels": {"4": {"instance_id": 4, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [28.43993202969432, -1.969540323014371, 0.8267731868163537], "size": [1.9834890365600586, 4.5813164710998535, 2.2160253524780273], "instance_token": "f40714dcf6ff5428"}, "16": {"instance_id": 16, "class_name": "vehicle", "x1": 0, "y1": 0, "x2": 0, "y2": 0, "logit": 0.0, "location": [57.195024915679824, 15.785670226905495, 0.6145150697702775], "size": [1.9364137649536133, 4.8913445472717285, 1.7100635766983032], "instance_token": "17632e8377625daa"}}}, "lane": {"polygon_name": "", "polygon_height": 900, "polygon_width": 1600, "labels": {"95": {"instance_id": 95, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "96": {"instance_id": 96, "class_name": "ego", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "101": {"instance_id": 101, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "110": {"instance_id": 110, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "112": {"instance_id": 112, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "113": {"instance_id": 113, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "104": {"instance_id": 104, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}, "114": {"instance_id": 114, "class_name": "object", "polygon": "", "x": 0, "y": 0, "logit": 0.0}}, "lane_num": 8, "ego_lane": "96"}}
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000039.json b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/json_data/mask_000039.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1e587621139465c13a62940ec7b3c00df0f27ec
--- /dev/null
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/prompt.txt
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [12.37, 10.99, 9.68, 8.62]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -1.04, -0.93, -1.0, -0.66
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/response.txt
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index 0000000000000000000000000000000000000000..7c9ff59ad6a2bb0e128357be590af644421a9605
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000006/response.txt
@@ -0,0 +1,46 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Clear
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, no overtaking on solid lines, maintain lane discipline.
+
+- **Notable Objects:**
+  - Object (ID 4): Vehicle, right lane, yellow color
+    - Potential Effects: Blocking the path in the current lane
+    - Future Behavior: Likely to remain stopped due to the red light
+
+  - Object (ID 2): Vehicle, left lane, white color
+    - Potential Effects: Stationary, waiting at the red light
+    - Future Behavior: Likely to remain stopped due to the red light
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A DECELERATION
+  - **Explanation:** Approaching a red light, necessitating a stop.
+  - **Lane Association:**
+    - Current lane number: Right lane
+    - Lanes on both sides are in the same direction; solid lines present, indicating no lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping. Vehicles ahead are also stopped.
+- **Driving Plan:** Stop behind the vehicle in the current lane (ID 4).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "1"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/gt_fut_traj.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/gt_fut_traj_mask.pkl
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diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/prompt.txt
new file mode 100644
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+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [8.62, 7.72, 6.79, 5.93]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.66, -1.03, -1.11, -0.97
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7c5499cdfbff7b9344eb4a5a968bd4efff39989
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000012/response.txt
@@ -0,0 +1,48 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow green light, maintain lane discipline, and observe speed limits.
+
+- **Notable Objects:**
+  - Object 1: Vehicle (red car) in the left lane, with no visible light signals.
+    - Potential Effects: May continue straight or change lanes.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 2: Vehicle (yellow taxi) directly ahead in the same lane.
+    - Potential Effects: May slow down or stop, affecting the ego car's speed.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 3: Vehicle (green car) in the right lane, with no visible light signals.
+    - Potential Effects: May continue straight or change lanes.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to clear traffic conditions and a green light.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction, with dashed lines allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear with a green light, and the vehicle ahead is moving, allowing the ego car to maintain its speed.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring the yellow taxi (Object 2) for any changes in speed.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies found.
+
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..92e095b25935a8c404b8917708c00bfead6159f7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c7d4c39d7a6488815771da5217f334331b8acd125e226ce7843594138e0467a
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c58e8bf663bed319bae61def981a090013322678
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf8e3a1421c579f5d28a0ff9cc8bc8d5ae2d503e27e1f0e3d127b7139ce23f48
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3e26c97e8277dddf0232301d79e2f2fef3e7b397
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [5.93, 5.28, 4.55, 4.04]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.97, -1.21, -1.33, -0.84
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a27bf776e139c8e14cbe7b5f2254f809f43fb9aa
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000018/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Green
+  - Notable Events: None
+  - Traffic rules: Follow the green light, maintain lane discipline, and adhere to speed limits.
+
+- **Notable Objects:**
+  - Object 1: Bicycle in the left lane
+    - Potential Effects: May enter the intersection slowly.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 4: Vehicle in the left lane
+    - Potential Effects: May merge into the intersection.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 8: Vehicle in the right lane
+    - Potential Effects: May merge into the intersection.
+    - Future Behavior: Likely to continue moving forward.
+  - Object 9: Vehicle in the right lane
+    - Potential Effects: May merge into the intersection.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car was moving forward at a constant speed due to the green light and clear path.
+  - **Lane Association:**
+    - Current lane number: Middle lane
+    - Lanes on both sides are in the same direction; lane lines are dashed, allowing for lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The green light and clear path ahead allow for continued forward movement at a constant speed.
+- **Driving Plan:** Maintain current speed and lane position, monitoring objects 1, 4, 8, and 9.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a4dad9cc552651ca9c7daea25f6324e9f3f81800
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d935aceb117cfc064740b1fb6a73045c3649ecdbca0660f865c0c075a198b0a
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..dde4e16c99c35cfae81981eae78b851ce74bf7d7
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff456d1bcd7b38a8855419f68aabd69717259ff11c5467ccd22cadcdd75892c5
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf2c0949f3be5236ad14d11180cd0b0e9e4570e9
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [4.04, 3.5, 2.87, 2.66]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.84, -0.4, 0.25, 0.62
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d0dcbbeb52da12f27747877d040fe142a927d9ec
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000024/response.txt
@@ -0,0 +1,50 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Red
+  - Notable Events: None
+  - Traffic rules: Stop at red lights, obey lane markings, and maintain speed limits.
+
+- **Notable Objects:**
+  - Object 8: Vehicle, left lane, white
+    - Potential Effects: Blocking the path if turning left.
+    - Future Behavior: Likely to remain stopped due to the red light.
+  - Object 10: Vehicle, center lane, blue
+    - Potential Effects: Blocking the path if going straight.
+    - Future Behavior: Likely to remain stopped due to the red light.
+  - Object 11: Vehicle, center lane, white
+    - Potential Effects: Blocking the path if going straight.
+    - Future Behavior: Likely to remain stopped due to the red light.
+  - Object 12: Vehicle, right lane, blue
+    - Potential Effects: Blocking the path if turning right.
+    - Future Behavior: Likely to remain stopped due to the red light.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** STOP
+  - **Past Speed adjustment:** A DECELERATION TO ZERO
+  - **Explanation:** The ego car stopped due to the red traffic light.
+  - **Lane Association:**
+    - Current lane number: Center lane
+    - Lanes on both sides are in the same direction; lane change possible if safe.
+
+*****Task Planning:*****
+- **Future Behavior:** STOP
+- **Future Speed:** A DECELERATION TO ZERO
+- **Explanation:** The red traffic light requires stopping, and vehicles ahead are also stopped.
+- **Driving Plan:** Maintain position until the light changes to green. Monitor objects 8, 10, 11, and 12.
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the behavior and speed in task planning. No inconsistencies detected.
+  - **Revised Behavior:** STOP
+  - **Revised Speed:** A DECELERATION TO ZERO
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "0",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..50d98bdd1709ef9dfdc9294de5b4744bb5f3dd0c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1572781a32d1102a969795e4bff13c3936fd7946c51f08228f2d75dba23b586b
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..71a0c16227f851211667df2faa53c4743eb69f8c
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7055d25a4dccc3771c545cce3613aa44886b2f3c3dad129e368143cd7bd4490e
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d801ac4ab6477acb6ac37d567511727c0140ad79
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [2.66, 3.27, 4.38, 5.67]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): 0.62, -0.89, -0.22, -0.62
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7878d4c50fb32938ca0f1ceb66d2c1ee01e7a087
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000030/response.txt
@@ -0,0 +1,44 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of vehicles ahead.
+
+- **Notable Objects:**
+  - Object (ID 16): Vehicle in the same lane, red color
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to continue moving forward or slow down.
+  - Object (ID 17): Vehicle in the adjacent lane, white color
+    - Potential Effects: May change lanes or maintain position.
+    - Future Behavior: Likely to continue moving forward.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The ego car maintained a constant speed due to clear road conditions and no immediate obstacles.
+  - **Lane Association:**
+    - Current lane: Middle lane
+    - Lanes on both sides are in the same direction; lane change is possible.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road ahead is clear, and the vehicle in front is maintaining a steady pace. No immediate need to change lanes or adjust speed significantly.
+- **Driving Plan:** Continue moving forward at a constant speed, monitoring the vehicle ahead (ID 16).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable objects and ego car analysis align with the task planning. The plan to move forward at a constant speed is consistent with the current road conditions.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/gt_fut_traj.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/gt_fut_traj.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4dfe03aeaf91a9de8e9034ed73f8fafc39b2a4fe
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/gt_fut_traj.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97cac93ec9e82ec34bfc0e7ce57bf801d4b7ad2114fe9289714966fdbbeb6be8
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/gt_fut_traj_mask.pkl b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/gt_fut_traj_mask.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..3d899971115591d07c381de6529261d934bdcc6a
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/gt_fut_traj_mask.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83042daab24b4027a0671dfaeb99179f678d90fe044028e2c58097e89d07a702
+size 267
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/prompt.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/prompt.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91b60a3c8b5edf11a3862d6e852a3e575aead85e
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/prompt.txt
@@ -0,0 +1,9 @@
+### **Input:**
+- Please note that you are required to drive more aggressively and avoid stopping easily unless pedestrians or other vehicles are within 3 meters of you.
+- **City:** us-nv-las-vegas-strip
+- **Past Ego states**: 
+  - Speed (m/s, a value of 0 indicates stopping): [5.67, 7.02, 7.93, 7.74]
+  - Turn Angle (degree, positive for right; negative for left, A turn is generally indicated when the turn angle exceeds 40 degrees.): -0.62, -0.86, -0.91, -1.08
+- **Lane Num:** There are 0 lanes ahead, each distinguished by a different colored mask in corresponding marked frames.
+
+### **Output:**
\ No newline at end of file
diff --git a/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/response.txt b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/response.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3f309676f9b76b9de3330bd85f1bb1d4abbb1ea2
--- /dev/null
+++ b/nuplan-2021.05.12.23.36.44_veh-35_01133_01535_scene_6/result/output_000036/response.txt
@@ -0,0 +1,41 @@
+*****Chain-of-Thoughts Reasoning:*****
+- **Scene Understanding:**
+  - Time: Daytime
+  - Location: City street
+  - Weather: Sunny
+  - Traffic light: Not visible
+  - Notable Events: None
+  - Traffic rules: Maintain lane discipline, obey speed limits, and be cautious of pedestrians.
+
+- **Notable Objects:**
+  - Object 1: {Car, in front, red color}
+    - Potential Effects: May slow down or stop, affecting your speed.
+    - Future Behavior: Likely to continue moving forward or stop.
+
+- **Ego Car Analysis:**
+  - **Past Behavior:** MOVE FORWARD
+  - **Past Speed adjustment:** A CONSTANT SPEED
+  - **Explanation:** The road ahead is clear with no immediate obstacles, allowing for steady movement.
+  - **Lane Association:**
+    - Current lane number: 2
+    - Lanes on both sides are in the same direction; lane lines are visible, allowing for potential lane changes.
+
+*****Task Planning:*****
+- **Future Behavior:** MOVE FORWARD
+- **Future Speed:** A CONSTANT SPEED
+- **Explanation:** The road is clear, and the car ahead is moving, allowing for continued forward movement at a steady pace.
+- **Driving Plan:** Maintain current lane and speed, monitoring the car ahead (Object 1).
+
+*****Reflection:*****
+- **Self-Consistency:** The notable object (car) is in front, and the ego car is moving forward at a constant speed, which aligns with the task planning.
+  - **Revised Behavior:** MOVE FORWARD
+  - **Revised Speed:** A CONSTANT SPEED
+
+*****MPC Signals (JSON format):*****
+```json
+{
+  "desired_speed": "10",
+  "desired_turn_angle": "0",
+  "lane_num": "2"
+}
+```
\ No newline at end of file