{
  "name_to_id": {
    "background": 0,
    "road": 1,
    "curb": 2,
    "sidewalk": 3,
    "guard rail/road barrier": 4,
    "crosswalk": 5,
    "paved trail": 6,
    "building": 7,
    "wall/fence": 8,
    "hand rail": 9,
    "opening-door": 10,
    "opening-gate": 11,
    "pedestrian": 12,
    "rider": 13,
    "animal": 14,
    "stairs": 15,
    "water body": 16,
    "other walkable surface": 17,
    "inaccessible surface": 18,
    "railway track": 19,
    "obstacle": 20,
    "vehicle": 21,
    "traffic sign": 22,
    "traffic light": 23,
    "pole": 24,
    "bus stop": 25,
    "bike rack": 26,
    "sky": 27,
    "tree": 28,
    "vegetation": 29,
    "terrain": 30
  },
  "id_to_name": {
    "0": "background",
    "1": "road",
    "2": "curb",
    "3": "sidewalk",
    "4": "guard rail/road barrier",
    "5": "crosswalk",
    "6": "paved trail",
    "7": "building",
    "8": "wall/fence",
    "9": "hand rail",
    "10": "opening-door",
    "11": "opening-gate",
    "12": "pedestrian",
    "13": "rider",
    "14": "animal",
    "15": "stairs",
    "16": "water body",
    "17": "other walkable surface",
    "18": "inaccessible surface",
    "19": "railway track",
    "20": "obstacle",
    "21": "vehicle",
    "22": "traffic sign",
    "23": "traffic light",
    "24": "pole",
    "25": "bus stop",
    "26": "bike rack",
    "27": "sky",
    "28": "tree",
    "29": "vegetation",
    "30": "terrain"
  },
  "accessibility_scores": {
    "road": 0.4,
    "curb": 0.2,
    "sidewalk": 1.0,
    "guard rail/road barrier": 0.0,
    "crosswalk": 0.9,
    "paved trail": 0.95,
    "building": 0.0,
    "wall/fence": 0.0,
    "hand rail": 0.6,
    "opening-door": 0.8,
    "opening-gate": 0.8,
    "pedestrian": 0.7,
    "rider": 0.5,
    "animal": 0.4,
    "stairs": 0.1,
    "water body": 0.0,
    "other walkable surface": 0.7,
    "inaccessible surface": 0.0,
    "railway track": 0.2,
    "obstacle": 0.0,
    "vehicle": 0.0,
    "traffic sign": 0.6,
    "traffic light": 0.6,
    "pole": 0.6,
    "bus stop": 0.85,
    "bike rack": 0.7,
    "sky": 0.0,
    "tree": 0.3,
    "vegetation": 0.4,
    "terrain": 0.5,
    "background": 0.5
  }
}