{
  "schema_version": "missioncore.object-semantic-vocabulary/v0",
  "vocabulary_id": "missioncore.urban-object-semantics/v0",
  "status": "experimental",
  "scope": "urban-ground-robot",
  "classes": [
    {
      "class_id": "object.unknown",
      "parent_id": null,
      "aliases": ["unknown", "unknown_object"],
      "agency_prior": "unknown",
      "risk_traits": ["unknown-clearance", "unknown-motion-potential"]
    },
    {
      "class_id": "human.unknown",
      "parent_id": "object.unknown",
      "aliases": ["person", "human", "pedestrian"],
      "agency_prior": "animate",
      "risk_traits": ["vulnerable-road-user", "unpredictable-motion"]
    },
    {
      "class_id": "human.adult",
      "parent_id": "human.unknown",
      "aliases": ["adult", "adult_person"],
      "agency_prior": "animate",
      "risk_traits": ["vulnerable-road-user", "unpredictable-motion"]
    },
    {
      "class_id": "human.child",
      "parent_id": "human.unknown",
      "aliases": ["child", "kid", "toddler"],
      "agency_prior": "animate",
      "risk_traits": ["vulnerable-road-user", "high-unpredictability"]
    },
    {
      "class_id": "animal.unknown",
      "parent_id": "object.unknown",
      "aliases": ["animal", "unknown_animal"],
      "agency_prior": "animate",
      "risk_traits": ["unpredictable-motion"]
    },
    {
      "class_id": "animal.dog",
      "parent_id": "animal.unknown",
      "aliases": ["dog", "canine"],
      "agency_prior": "animate",
      "risk_traits": ["unpredictable-motion", "close-interaction-risk"]
    },
    {
      "class_id": "vehicle.unknown",
      "parent_id": "object.unknown",
      "aliases": ["vehicle", "unknown_vehicle"],
      "agency_prior": "self-propelled",
      "risk_traits": ["may-start-moving", "large-footprint"]
    },
    {
      "class_id": "vehicle.car",
      "parent_id": "vehicle.unknown",
      "aliases": ["car", "automobile"],
      "agency_prior": "self-propelled",
      "risk_traits": ["may-start-moving", "reversing-risk"]
    },
    {
      "class_id": "vehicle.heavy",
      "parent_id": "vehicle.unknown",
      "aliases": ["heavy_vehicle", "truck", "bus"],
      "agency_prior": "self-propelled",
      "risk_traits": ["may-start-moving", "large-footprint", "blind-zone"]
    },
    {
      "class_id": "vehicle.bicycle",
      "parent_id": "vehicle.unknown",
      "aliases": ["bicycle", "bike"],
      "agency_prior": "self-propelled",
      "risk_traits": ["may-start-moving", "vulnerable-road-user"]
    },
    {
      "class_id": "vehicle.motorcycle",
      "parent_id": "vehicle.unknown",
      "aliases": ["motorcycle", "motorbike"],
      "agency_prior": "self-propelled",
      "risk_traits": ["may-start-moving", "rapid-motion"]
    },
    {
      "class_id": "vehicle.kick-scooter",
      "parent_id": "vehicle.unknown",
      "aliases": ["kick_scooter", "scooter"],
      "agency_prior": "self-propelled",
      "risk_traits": ["may-start-moving", "vulnerable-road-user"]
    },
    {
      "class_id": "mobility.unknown",
      "parent_id": "object.unknown",
      "aliases": ["passive_mobility", "wheeled_object"],
      "agency_prior": "inert",
      "risk_traits": ["may-be-pushed", "rolling-potential"]
    },
    {
      "class_id": "mobility.stroller",
      "parent_id": "mobility.unknown",
      "aliases": ["stroller", "pram"],
      "agency_prior": "inert",
      "risk_traits": ["may-be-pushed", "vulnerable-occupant"]
    },
    {
      "class_id": "mobility.cart",
      "parent_id": "mobility.unknown",
      "aliases": ["cart", "shopping_cart", "trolley"],
      "agency_prior": "inert",
      "risk_traits": ["may-be-pushed", "rolling-potential"]
    },
    {
      "class_id": "static.unknown",
      "parent_id": "object.unknown",
      "aliases": ["static_obstacle", "generic_obstacle", "obstacle"],
      "agency_prior": "inert",
      "risk_traits": ["static-clearance"]
    },
    {
      "class_id": "static.trash-bin",
      "parent_id": "static.unknown",
      "aliases": ["trash_bin", "garbage_bin", "waste_bin"],
      "agency_prior": "inert",
      "risk_traits": ["static-clearance", "movable-by-external-force"]
    },
    {
      "class_id": "static.bollard",
      "parent_id": "static.unknown",
      "aliases": ["bollard", "road_bollard"],
      "agency_prior": "inert",
      "risk_traits": ["small-static", "rigid-clearance"]
    },
    {
      "class_id": "static.post",
      "parent_id": "static.unknown",
      "aliases": ["post", "pole", "pipe_post"],
      "agency_prior": "inert",
      "risk_traits": ["small-static", "rigid-clearance"]
    },
    {
      "class_id": "static.concrete-hemisphere",
      "parent_id": "static.unknown",
      "aliases": ["concrete_hemisphere", "hemisphere", "dome_barrier"],
      "agency_prior": "inert",
      "risk_traits": ["low-profile", "rigid-clearance"]
    },
    {
      "class_id": "static.traffic-cone",
      "parent_id": "static.unknown",
      "aliases": ["traffic_cone", "cone"],
      "agency_prior": "inert",
      "risk_traits": ["small-static", "temporary-road-control"]
    },
    {
      "class_id": "static.road-sign",
      "parent_id": "static.unknown",
      "aliases": ["road_sign", "traffic_sign"],
      "agency_prior": "inert",
      "risk_traits": ["static-clearance", "road-control-device"]
    },
    {
      "class_id": "static.temporary-barrier",
      "parent_id": "static.unknown",
      "aliases": ["temporary_barrier", "road_barrier", "barrier"],
      "agency_prior": "inert",
      "risk_traits": ["static-clearance", "temporary-road-control"]
    },
    {
      "class_id": "terrain.unknown",
      "parent_id": "object.unknown",
      "aliases": ["terrain_hazard", "surface_hazard"],
      "agency_prior": "inert",
      "risk_traits": ["surface-discontinuity"]
    },
    {
      "class_id": "terrain.curb",
      "parent_id": "terrain.unknown",
      "aliases": ["curb", "sidewalk_curb"],
      "agency_prior": "inert",
      "risk_traits": ["surface-discontinuity", "vehicle-dependent-traversability"]
    },
    {
      "class_id": "terrain.step",
      "parent_id": "terrain.unknown",
      "aliases": ["step", "stair"],
      "agency_prior": "inert",
      "risk_traits": ["surface-discontinuity", "vehicle-dependent-traversability"]
    },
    {
      "class_id": "terrain.pothole",
      "parent_id": "terrain.unknown",
      "aliases": ["pothole", "road_hole"],
      "agency_prior": "inert",
      "risk_traits": ["negative-obstacle", "vehicle-dependent-traversability"]
    },
    {
      "class_id": "terrain.drainage-grate",
      "parent_id": "terrain.unknown",
      "aliases": ["drainage_grate", "drain", "road_grate"],
      "agency_prior": "inert",
      "risk_traits": ["surface-discontinuity", "wheel-entrapment"]
    },
    {
      "class_id": "natural.unknown",
      "parent_id": "object.unknown",
      "aliases": ["natural_obstacle", "debris"],
      "agency_prior": "inert",
      "risk_traits": ["irregular-clearance"]
    },
    {
      "class_id": "natural.rock",
      "parent_id": "natural.unknown",
      "aliases": ["rock", "stone"],
      "agency_prior": "inert",
      "risk_traits": ["irregular-clearance", "rigid-clearance"]
    },
    {
      "class_id": "natural.branch",
      "parent_id": "natural.unknown",
      "aliases": ["branch", "fallen_branch"],
      "agency_prior": "inert",
      "risk_traits": ["irregular-clearance", "deformable-obstacle"]
    }
  ],
  "policies": {
    "occupancy_independent_of_semantics": true,
    "unknown_preserves_obstacle": true,
    "class_prior_is_not_observed_state": true,
    "risk_is_advisory_only": true,
    "planner_command_authority": false,
    "max_hypotheses": 5
  }
}