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