two_level_categories.yml

- name: void
  subcategories:
    - name: unlabeled
    - name: dynamic
    - name: ego vehicle
    - name: ground
    - name: static

- name: flat
  subcategories:
    - name: parking
    - name: rail track
    - name: road
    - name: sidewalk

- name: construction
  subcategories:
    - name: bridge
    - name: building
    - name: bus stop
    - name: fence
    - name: garage
    - name: guard rail
    - name: tunnel
    - name: wall

- name: object
  subcategories:
    - name: banner
    - name: billboard
    - name: fire hydrant
    - name: lane divider
    - name: mail box
    - name: parking sign
    - name: pole
    - name: street light
    - name: traffic cone
    - name: traffic device
    - name: traffic light
    - name: traffic sign
    - name: traffic sign frame
    - name: trash can

- name: nature
  subcategories:
    - name: terrain
    - name: vegetation

- name: sky
  subcategories:
    - name: sky

- name: human
  subcategories:
    - name: person
    - name: rider

- name: vehicle
  subcategories:
    - name: bicycle
    - name: bus
    - name: car
    - name: caravan
    - name: motorcycle
    - name: trailer
    - name: train
    - name: truck