| id | name | description | attributes |
|---|---|---|---|
| 1 | noise | - | - |
| 2 | animal | - | yes |
| 3 | human.pedestrian.adult | - | - |
| 4 | human.pedestrian.child | - | - |
| 5 | human.pedestrian.construction_worker | - | - |
| 6 | human.pedestrian.personal_mobility | - | - |
| 7 | human.pedestrian.police_officer | - | - |
| 8 | human.pedestrian.stroller | - | - |
| 9 | human.pedestrian.wheelchair | - | - |
| 10 | movable_object.barrier | - | - |
| 11 | movable_object.debris | - | - |
| 12 | movable_object.pushable_pullable | - | - |
| 13 | movable_object.trafficcone | - | - |
| 14 | static_object.bicycle_rack | - | - |
| 15 | vehicle.bicycle | - | - |
| 16 | vehicle.bus.bendy | - | - |
| 17 | vehicle.bus.rigid | - | - |
| 18 | vehicle.car | - | - |
| 19 | vehicle.construction | - | - |
| 20 | vehicle.emergency.ambulance | - | - |
| 21 | vehicle.emergency.police | - | - |
| 22 | vehicle.motorcycle | - | - |
| 23 | vehicle.trailer | - | - |
| 24 | vehicle.truck | - | - |
| 25 | flat.driveable_surface | - | - |
| 26 | flat.other | - | - |
| 27 | flat.sidewalk | - | - |
| 28 | flat.terrain | - | - |
| 29 | static.manmade | - | - |
| 30 | static.other | - | - |
| 31 | static.vegetation | - | - |
| 32 | vehicle.ego | - | - |