NUSCENES_TO_CL =  {
        0: 0,
        1: 5,
        2: 5,
        3: 5,
        4: 5,
        5: 5,
        6: 5,
        7: 5,
        8: 5,
        9: 6,
        10: 6,
        11: 6,
        12: 6,
        13: 7,
        14: 3,
        15: 3,
        16: 3,
        17: 3,
        18: 3,
        19: 3,
        20: 3,
        21: 3,
        22: 3,
        23: 3,
        24: 1,
        25: 8,
        26: 8,
        27: 4,
        28: 2,
        29: 0,
        30: 4,
        31: 0
}

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