diff --git a/data/spatial codes/ground truth/explicit/47333441.json b/data/spatial codes/ground truth/explicit/47333441.json
new file mode 100644
index 0000000000000000000000000000000000000000..07bf47f96d673aadee4790b27daef27f119b8769
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333441.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.51 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "toilet": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   }
+  },
+  "washer": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["toilet", "chair", "washer", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333924.json b/data/spatial codes/ground truth/explicit/47333924.json
new file mode 100644
index 0000000000000000000000000000000000000000..de3174178d5d1d5efd6a9a7598f70f9bdac89814
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333924.json	
@@ -0,0 +1,104 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.53 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429922.json b/data/spatial codes/ground truth/explicit/47429922.json
new file mode 100644
index 0000000000000000000000000000000000000000..320f3e46fdd889813e1db7579a602e0cf5affba8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429922.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "-2.84 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "-2.94 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.98 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.34 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.65 meters",
+      "y coordinate": "-2.02 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5ee7c22ba0.json b/data/spatial codes/ground truth/explicit/5ee7c22ba0.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f2d06d3739f771d9aadec5ae58af3550367e4e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5ee7c22ba0.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "2.13 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.98 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "2.53 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "microwave": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.57 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["microwave", "refrigerator", "table", "door", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/9071e139d9.json b/data/spatial codes/ground truth/explicit/9071e139d9.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0688ee7780a5d22783dd7e1af9434266baff702
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/9071e139d9.json	
@@ -0,0 +1,475 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.86 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.65 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.21 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.67 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.42 meters",
+      "y coordinate": "4.21 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.43 meters",
+      "y coordinate": "3.11 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.64 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.98 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.04 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.76 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.32 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "cushion": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.38 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.33 meters",
+      "y coordinate": "4.39 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.37 meters",
+      "y coordinate": "3.09 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.52 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.94 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.09 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "42.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "4.79 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "5.2 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "cushion": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "cushion": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "4.83 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.09 meters",
+    "closeness rank": 6
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "5.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "8.08 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "8.13 meters",
+    "closeness rank": 6
+   }
+  },
+  "whiteboard": {
+   "clock": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "4.83 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "7.85 meters",
+    "closeness rank": 5
+   },
+   "cushion": {
+    "distance": "7.98 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "cushion": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.2 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "4.79 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "7.85 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "8.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "cushion": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.2 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "7.98 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "8.13 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "table", "sofa", "clock", "whiteboard", "door", "cushion"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/a8bf42d646.json b/data/spatial codes/ground truth/explicit/a8bf42d646.json
new file mode 100644
index 0000000000000000000000000000000000000000..582c5e19ff5fd4b8c97fa2ac9dfff79648365ac8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/a8bf42d646.json	
@@ -0,0 +1,269 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.4 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.97 meters",
+      "y coordinate": "7.23 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "3.98 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.13 meters",
+      "y coordinate": "5.5 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "3.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.49 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.65 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.47 meters",
+      "y coordinate": "4.47 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.98 meters",
+      "y coordinate": "2.77 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "crate": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.49 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "41.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash can": {
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash can": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "4.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "1.06 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "3.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.52 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "crate": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "crate": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.24 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "3.18 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["trash can", "door", "heater", "table", "crate"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/acd95847c5.json b/data/spatial codes/ground truth/explicit/acd95847c5.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5eb7e7ed6c38ccd514816f6c8b86f58ce492451
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/acd95847c5.json	
@@ -0,0 +1,1267 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "computer tower": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.16 meters",
+      "y coordinate": "2.79 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.81 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.82 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.5 meters"
+     },
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+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.61 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.96 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.34 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "2.35 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 14
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "0.29 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.69 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.43 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.97 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "2.09 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.16 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 14
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "0.22 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.75 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.61 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "3.74 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "3.77 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.03 meters",
+    "closeness rank": 14
+   }
+  },
+  "laptop": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.93 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.92 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "2.41 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "3.36 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "3.46 meters",
+    "closeness rank": 12
+   },
+   "power strip": {
+    "distance": "3.54 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.67 meters",
+    "closeness rank": 14
+   }
+  },
+  "heater": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.69 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.34 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "4.18 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "4.26 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "4.48 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.65 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["computer tower", "chair", "door", "ceiling light", "trash can", "bookshelf", "power strip", "whiteboard", "table", "keyboard", "computer mouse", "monitor", "telephone", "laptop", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/b0a08200c9.json b/data/spatial codes/ground truth/explicit/b0a08200c9.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a1cca264005c8b671cd852dfaefbde74f093994
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/b0a08200c9.json	
@@ -0,0 +1,642 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "computer tower": {
+   "count": 25,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.95 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.48 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.12 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.98 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.17 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.4 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.66 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.7 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "2.86 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "2.99 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "0.9 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.79 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "computer tower": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 7
+   }
+  },
+  "computer mouse": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 7
+   }
+  },
+  "ceiling light": {
+   "computer tower": {
+    "distance": "0.8 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "2.0 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.08 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "computer tower": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.01 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.01 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "computer mouse": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.53 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "heater": {
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.9 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["computer tower", "chair", "computer mouse", "ceiling light", "door", "keyboard", "monitor", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/bcd2436daf.json b/data/spatial codes/ground truth/explicit/bcd2436daf.json
new file mode 100644
index 0000000000000000000000000000000000000000..74221b15f035dbde1a17003ff72731f622db4004
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/bcd2436daf.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "shoes": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "3.24 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "shoes": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "heater": {
+   "bed": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "shoes": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.72 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "shoes": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   }
+  },
+  "plant": {
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "shoes": {
+    "distance": "1.47 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "2.04 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "shoes": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.97 meters",
+    "closeness rank": 6
+   }
+  },
+  "ceiling light": {
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.49 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   },
+   "shoes": {
+    "distance": "2.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "bed": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "shoes": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["shoes", "heater", "pillow", "plant", "chair", "ceiling light", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/bde1e479ad.json b/data/spatial codes/ground truth/explicit/bde1e479ad.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eaac794b9d3838f5f890bce4709fd10973b5815
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/bde1e479ad.json	
@@ -0,0 +1,946 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.72 meters",
+      "y coordinate": "7.49 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.12 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "3.02 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.92 meters",
+      "y coordinate": "5.04 meters",
+      "height above floor": "3.06 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "7.22 meters",
+      "height above floor": "3.03 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "3.0 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.81 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 47,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.63 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.41 meters",
+      "y coordinate": "8.04 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.61 meters",
+      "y coordinate": "7.51 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.2 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.01 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.95 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.41 meters",
+      "y coordinate": "5.83 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.26 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.86 meters",
+      "y coordinate": "4.27 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "7.86 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "4.64 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.81 meters",
+      "y coordinate": "6.62 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.7 meters",
+      "y coordinate": "3.84 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "6.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.65 meters",
+      "y coordinate": "7.04 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.53 meters",
+      "y coordinate": "7.7 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "6.75 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.97 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.86 meters",
+      "y coordinate": "4.0 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "3.44 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.94 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "6.32 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.69 meters",
+      "y coordinate": "4.74 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.83 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.61 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.71 meters",
+      "y coordinate": "7.16 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "8.21 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.3 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "7.41 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "7.93 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.48 meters",
+      "y coordinate": "6.81 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.25 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.03 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.8 meters",
+      "y coordinate": "6.48 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.98 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.14 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.11 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.23 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.48 meters",
+      "y coordinate": "7.94 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.52 meters",
+      "y coordinate": "7.01 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.46 meters",
+      "y coordinate": "6.7 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "6.57 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.12 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.02 meters",
+      "y coordinate": "3.38 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.81 meters",
+      "y coordinate": "4.59 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "8.31 meters",
+      "height above floor": "2.76 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "4.64 meters",
+      "height above floor": "2.18 meters"
+     },
+     "longest dimension": "2.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "4.62 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "2.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "8.27 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.41 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "8.03 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.8 meters",
+      "y coordinate": "5.78 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "55.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.88 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "2.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "heater": {
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.4 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.76 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "7.37 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.43 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "clock": {
+   "whiteboard": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.58 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "4.31 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "7.37 meters",
+    "closeness rank": 7
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "heater": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.58 meters",
+    "closeness rank": 7
+   }
+  },
+  "power strip": {
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.06 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "4.31 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "heater", "chair", "table", "clock", "whiteboard", "door", "power strip"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c49a8c6cff.json b/data/spatial codes/ground truth/explicit/c49a8c6cff.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ccefc0ca63d4b62eb00be9732b7445361c0ded
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c49a8c6cff.json	
@@ -0,0 +1,1163 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "3.17 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "2.79 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "2.75 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "2.39 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "shoes": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.09 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "heater": {
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+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.63 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.64 meters",
+    "closeness rank": 8
+   },
+   "shoes": {
+    "distance": "1.85 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "2.06 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "2.19 meters",
+    "closeness rank": 13
+   },
+   "headphones": {
+    "distance": "2.33 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["monitor", "door", "bed", "chair", "plant", "headphones", "table", "cup", "computer mouse", "keyboard", "trash can", "ceiling light", "shoes", "heater", "pillow"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c5439f4607.json b/data/spatial codes/ground truth/explicit/c5439f4607.json
new file mode 100644
index 0000000000000000000000000000000000000000..73361a79bbffa67f6303a6d998e575d07a08777e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c5439f4607.json	
@@ -0,0 +1,214 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "1.46 meters"
+     },
+     "longest dimension": "2.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.63 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.2 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.62 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "3.04 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.03 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "trash can": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "trash can": {
+    "distance": "1.5 meters",
+    "closeness rank": 1
+   },
+   "exhaust fan": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 3
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "2.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash can": {
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.5 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "2.96 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["door", "chair", "exhaust fan", "trash can"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/cc5237fd77.json b/data/spatial codes/ground truth/explicit/cc5237fd77.json
new file mode 100644
index 0000000000000000000000000000000000000000..985750cb5b8aea01c04a57718ed36d0ea48019fe
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/cc5237fd77.json	
@@ -0,0 +1,537 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.87 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.19 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "3.03 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.84 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.67 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "monitor": {
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "computer tower": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "1.64 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "suitcase": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   }
+  },
+  "bookshelf": {
+   "suitcase": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.83 meters",
+    "closeness rank": 8
+   }
+  },
+  "computer tower": {
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "suitcase": {
+    "distance": "1.52 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "suitcase": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.37 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.53 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.86 meters",
+    "closeness rank": 8
+   }
+  },
+  "laptop": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.86 meters",
+    "closeness rank": 8
+   }
+  },
+  "ceiling light": {
+   "bookshelf": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "laptop": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer tower": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.83 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.53 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["monitor", "door", "chair", "bookshelf", "computer tower", "suitcase", "laptop", "ceiling light", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/d755b3d9d8.json b/data/spatial codes/ground truth/explicit/d755b3d9d8.json
new file mode 100644
index 0000000000000000000000000000000000000000..156d94e8e56858dd87132e2b53c78e5a42071910
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/d755b3d9d8.json	
@@ -0,0 +1,1235 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.25 meters",
+      "y coordinate": "2.65 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.99 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.56 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "2.64 meters"
+     },
+     "longest dimension": "2.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.99 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "2.71 meters"
+     },
+     "longest dimension": "2.98 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.95 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.64 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.82 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.51 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.16 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "3.34 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "shoes": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.6 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.07 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.83 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.8 meters",
+      "y coordinate": "2.59 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.45 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.94 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.0 square meters"
+ },
+ "closest classes distance meters from": {
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+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.08 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "0.1 meters",
+    "closeness rank": 6
+   },
+   "shoes": {
+    "distance": "0.23 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "0.24 meters",
+    "closeness rank": 8
+   },
+   "heater": {
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+    "closeness rank": 9
+   },
+   "telephone": {
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+    "closeness rank": 10
+   },
+   "whiteboard": {
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+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "1.15 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
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+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
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+    "closeness rank": 1
+   },
+   "whiteboard": {
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+    "closeness rank": 2
+   },
+   "ceiling light": {
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+    "closeness rank": 3
+   },
+   "table": {
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+    "closeness rank": 4
+   },
+   "chair": {
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+    "closeness rank": 5
+   },
+   "keyboard": {
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+    "closeness rank": 6
+   },
+   "monitor": {
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+    "closeness rank": 7
+   },
+   "computer mouse": {
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+    "closeness rank": 8
+   },
+   "plant": {
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+    "closeness rank": 9
+   },
+   "cup": {
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+    "closeness rank": 10
+   },
+   "laptop": {
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+    "closeness rank": 11
+   },
+   "shoes": {
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+    "closeness rank": 12
+   },
+   "heater": {
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+    "closeness rank": 13
+   },
+   "telephone": {
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+    "closeness rank": 14
+   }
+  },
+  "table": {
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+   },
+   "computer mouse": {
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+   },
+   "cup": {
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+   },
+   "keyboard": {
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+   },
+   "laptop": {
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+   },
+   "monitor": {
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+   },
+   "plant": {
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+   },
+   "heater": {
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+    "closeness rank": 8
+   },
+   "telephone": {
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+   },
+   "whiteboard": {
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+    "closeness rank": 10
+   },
+   "shoes": {
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+    "closeness rank": 11
+   },
+   "printer": {
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+   },
+   "door": {
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+   },
+   "ceiling light": {
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+    "closeness rank": 14
+   }
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+  "ceiling light": {
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+   },
+   "whiteboard": {
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+   },
+   "monitor": {
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+   },
+   "chair": {
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+   },
+   "door": {
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+    "closeness rank": 5
+   },
+   "printer": {
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+   },
+   "telephone": {
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+   },
+   "table": {
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+    "closeness rank": 8
+   },
+   "cup": {
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+    "closeness rank": 9
+   },
+   "laptop": {
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+    "closeness rank": 10
+   },
+   "keyboard": {
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+    "closeness rank": 11
+   },
+   "computer mouse": {
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+    "closeness rank": 12
+   },
+   "heater": {
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+    "closeness rank": 13
+   },
+   "shoes": {
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+    "closeness rank": 14
+   }
+  },
+  "monitor": {
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+   },
+   "keyboard": {
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+   },
+   "plant": {
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+   },
+   "table": {
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+   },
+   "computer mouse": {
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+   },
+   "whiteboard": {
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+   },
+   "laptop": {
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+    "closeness rank": 7
+   },
+   "cup": {
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+   },
+   "telephone": {
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+   },
+   "heater": {
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+   },
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+    "closeness rank": 11
+   },
+   "shoes": {
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+   },
+   "printer": {
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+   },
+   "door": {
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+    "closeness rank": 14
+   }
+  },
+  "computer mouse": {
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+   },
+   "laptop": {
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+   },
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+   },
+   "cup": {
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+   },
+   "monitor": {
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+   },
+   "chair": {
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+   },
+   "plant": {
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+   },
+   "heater": {
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+   },
+   "whiteboard": {
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+   },
+   "telephone": {
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+    "closeness rank": 10
+   },
+   "shoes": {
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+    "closeness rank": 11
+   },
+   "ceiling light": {
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+    "closeness rank": 12
+   },
+   "printer": {
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+    "closeness rank": 13
+   },
+   "door": {
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+    "closeness rank": 14
+   }
+  },
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+   },
+   "computer mouse": {
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+   },
+   "monitor": {
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+    "closeness rank": 3
+   },
+   "chair": {
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+   },
+   "heater": {
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+    "closeness rank": 5
+   },
+   "plant": {
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+    "closeness rank": 6
+   },
+   "telephone": {
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+   },
+   "shoes": {
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+   },
+   "ceiling light": {
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+   },
+   "laptop": {
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+   },
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+   },
+   "whiteboard": {
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+   },
+   "door": {
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+   },
+   "printer": {
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+    "closeness rank": 14
+   }
+  },
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+   },
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+   },
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+   },
+   "chair": {
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+   },
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+   },
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+   },
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+   },
+   "plant": {
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+   },
+   "computer mouse": {
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+   },
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+   },
+   "cup": {
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+   },
+   "heater": {
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+   },
+   "shoes": {
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+    "closeness rank": 13
+   },
+   "telephone": {
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+    "closeness rank": 14
+   }
+  },
+  "heater": {
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+   },
+   "table": {
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+   },
+   "plant": {
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+    "closeness rank": 3
+   },
+   "telephone": {
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+   },
+   "chair": {
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+   },
+   "laptop": {
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+   },
+   "monitor": {
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+    "closeness rank": 7
+   },
+   "computer mouse": {
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+   },
+   "keyboard": {
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+   },
+   "cup": {
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+    "closeness rank": 10
+   },
+   "ceiling light": {
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+   },
+   "whiteboard": {
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+   },
+   "printer": {
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+    "closeness rank": 13
+   },
+   "door": {
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+    "closeness rank": 14
+   }
+  },
+  "shoes": {
+   "heater": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.34 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.42 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.37 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "3.1 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.93 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.19 meters",
+    "closeness rank": 14
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "shoes": {
+    "distance": "0.87 meters",
+    "closeness rank": 6
+   },
+   "cup": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.26 meters",
+    "closeness rank": 11
+   },
+   "whiteboard": {
+    "distance": "3.55 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "4.27 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "4.51 meters",
+    "closeness rank": 14
+   }
+  },
+  "plant": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.14 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.44 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.61 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "shoes": {
+    "distance": "0.7 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.11 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "1.93 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.69 meters",
+    "closeness rank": 14
+   }
+  },
+  "whiteboard": {
+   "printer": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.61 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.81 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 9
+   },
+   "laptop": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.64 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "3.07 meters",
+    "closeness rank": 12
+   },
+   "shoes": {
+    "distance": "3.1 meters",
+    "closeness rank": 13
+   },
+   "telephone": {
+    "distance": "3.55 meters",
+    "closeness rank": 14
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.37 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.87 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "shoes": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.16 meters",
+    "closeness rank": 12
+   },
+   "telephone": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "2.4 meters",
+    "closeness rank": 14
+   }
+  },
+  "laptop": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "shoes": {
+    "distance": "1.08 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.67 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.71 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.88 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.12 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.62 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["printer", "table", "heater", "door", "cup", "computer mouse", "chair", "ceiling light", "shoes", "monitor", "telephone", "plant", "whiteboard", "keyboard", "laptop"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/e398684d27.json b/data/spatial codes/ground truth/explicit/e398684d27.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee34603a2cf581f71c016f9fee7c5390238dd460
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/e398684d27.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "3.49 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.37 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "2.26 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "monitor": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "monitor": {
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "door", "monitor"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/e7af285f7d.json b/data/spatial codes/ground truth/explicit/e7af285f7d.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09517532c921a071df29d006c70e1d595d0a855
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/e7af285f7d.json	
@@ -0,0 +1,112 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.59 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.44 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "2.2 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "heater": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   }
+  },
+  "heater": {
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["door", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f2dc06b1d2.json b/data/spatial codes/ground truth/explicit/f2dc06b1d2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fb1a8896e91d2b6597d83c28cddd8681a927de6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f2dc06b1d2.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f3685d06a9.json b/data/spatial codes/ground truth/explicit/f3685d06a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..5911c5f23d4e307b6d882db3cccdbcae02a6c408
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f3685d06a9.json	
@@ -0,0 +1,128 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "toilet": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   }
+  },
+  "door": {
+   "toilet": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f3d64c30f8.json b/data/spatial codes/ground truth/explicit/f3d64c30f8.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f014762503d6fee8acd58d0f16aea3694360667
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f3d64c30f8.json	
@@ -0,0 +1,1546 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "crate": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.51 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.35 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.83 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.19 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.45 meters",
+      "y coordinate": "3.15 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.82 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.42 meters",
+      "y coordinate": "2.53 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.04 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "3.34 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "3.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.55 meters",
+      "y coordinate": "4.57 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.52 meters",
+      "y coordinate": "4.48 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.62 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.54 meters",
+      "y coordinate": "4.54 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.47 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.11 meters",
+      "y coordinate": "4.65 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.56 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "2.7 meters"
+     },
+     "longest dimension": "3.08 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.27 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.1 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "1.97 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.81 meters",
+      "y coordinate": "4.66 meters",
+      "height above floor": "1.79 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "4.55 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.13 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "4.38 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "bowl": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.36 meters",
+      "y coordinate": "4.22 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.17 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "crate": {
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "bucket": {
+    "distance": "0.37 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "1.66 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "1.82 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "1.87 meters",
+    "closeness rank": 13
+   },
+   "ceiling light": {
+    "distance": "1.89 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "1.95 meters",
+    "closeness rank": 15
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.51 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "0.52 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "0.57 meters",
+    "closeness rank": 10
+   },
+   "power strip": {
+    "distance": "0.7 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "0.78 meters",
+    "closeness rank": 12
+   },
+   "bucket": {
+    "distance": "0.8 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "0.8 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.59 meters",
+    "closeness rank": 15
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "crate": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.46 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "0.79 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "0.91 meters",
+    "closeness rank": 9
+   },
+   "power strip": {
+    "distance": "0.94 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.04 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "1.1 meters",
+    "closeness rank": 12
+   },
+   "bowl": {
+    "distance": "1.1 meters",
+    "closeness rank": 13
+   },
+   "cup": {
+    "distance": "1.17 meters",
+    "closeness rank": 14
+   },
+   "ceiling light": {
+    "distance": "1.24 meters",
+    "closeness rank": 15
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "crate": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "0.46 meters",
+    "closeness rank": 6
+   },
+   "power strip": {
+    "distance": "0.62 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.64 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.66 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "1.19 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "1.64 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "1.8 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "3.83 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "3.95 meters",
+    "closeness rank": 15
+   }
+  },
+  "bookshelf": {
+   "bowl": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bucket": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "0.59 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.54 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.88 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.9 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.37 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "2.42 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "2.44 meters",
+    "closeness rank": 15
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "clock": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.81 meters",
+    "closeness rank": 8
+   },
+   "crate": {
+    "distance": "1.89 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.9 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.16 meters",
+    "closeness rank": 12
+   },
+   "bowl": {
+    "distance": "2.29 meters",
+    "closeness rank": 13
+   },
+   "bucket": {
+    "distance": "2.4 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.6 meters",
+    "closeness rank": 15
+   }
+  },
+  "power strip": {
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 3
+   },
+   "crate": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "bucket": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "2.96 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.06 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.35 meters",
+    "closeness rank": 12
+   },
+   "cup": {
+    "distance": "3.67 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "4.67 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "5.05 meters",
+    "closeness rank": 15
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.03 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.2 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.44 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "3.23 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.95 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "5.0 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "5.05 meters",
+    "closeness rank": 15
+   }
+  },
+  "trash can": {
+   "heater": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.81 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.82 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "2.16 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "2.26 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "bowl": {
+    "distance": "2.51 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "3.12 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.83 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "4.67 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "4.9 meters",
+    "closeness rank": 15
+   }
+  },
+  "clock": {
+   "door": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.88 meters",
+    "closeness rank": 7
+   },
+   "bucket": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "2.12 meters",
+    "closeness rank": 9
+   },
+   "bowl": {
+    "distance": "2.45 meters",
+    "closeness rank": 10
+   },
+   "microwave": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   },
+   "cup": {
+    "distance": "2.87 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.29 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "4.9 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "5.0 meters",
+    "closeness rank": 15
+   }
+  },
+  "whiteboard": {
+   "microwave": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.23 meters",
+    "closeness rank": 4
+   },
+   "bowl": {
+    "distance": "0.44 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "crate": {
+    "distance": "0.65 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 9
+   },
+   "bucket": {
+    "distance": "0.77 meters",
+    "closeness rank": 10
+   },
+   "clock": {
+    "distance": "1.25 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   },
+   "heater": {
+    "distance": "2.24 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "2.36 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.45 meters",
+    "closeness rank": 15
+   }
+  },
+  "microwave": {
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.38 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.5 meters",
+    "closeness rank": 9
+   },
+   "crate": {
+    "distance": "1.58 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "1.78 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "1.81 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.7 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "3.35 meters",
+    "closeness rank": 15
+   }
+  },
+  "cup": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.17 meters",
+    "closeness rank": 6
+   },
+   "bucket": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.8 meters",
+    "closeness rank": 10
+   },
+   "crate": {
+    "distance": "1.87 meters",
+    "closeness rank": 11
+   },
+   "heater": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.26 meters",
+    "closeness rank": 13
+   },
+   "clock": {
+    "distance": "2.87 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "3.67 meters",
+    "closeness rank": 15
+   }
+  },
+  "bucket": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "crate": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "bowl": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 6
+   },
+   "microwave": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "cup": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.03 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.05 meters",
+    "closeness rank": 11
+   },
+   "power strip": {
+    "distance": "2.33 meters",
+    "closeness rank": 12
+   },
+   "ceiling light": {
+    "distance": "2.4 meters",
+    "closeness rank": 13
+   },
+   "trash can": {
+    "distance": "3.12 meters",
+    "closeness rank": 14
+   },
+   "heater": {
+    "distance": "3.23 meters",
+    "closeness rank": 15
+   }
+  },
+  "bowl": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.44 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "bucket": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "crate": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "1.65 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   },
+   "clock": {
+    "distance": "2.45 meters",
+    "closeness rank": 12
+   },
+   "trash can": {
+    "distance": "2.51 meters",
+    "closeness rank": 13
+   },
+   "heater": {
+    "distance": "2.57 meters",
+    "closeness rank": 14
+   },
+   "power strip": {
+    "distance": "2.96 meters",
+    "closeness rank": 15
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.54 meters",
+    "closeness rank": 5
+   },
+   "crate": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "bowl": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "cup": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "2.0 meters",
+    "closeness rank": 11
+   },
+   "bucket": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 13
+   },
+   "power strip": {
+    "distance": "3.06 meters",
+    "closeness rank": 14
+   },
+   "clock": {
+    "distance": "3.29 meters",
+    "closeness rank": 15
+   }
+  }
+ },
+ "appearance order": ["crate", "chair", "table", "door", "bookshelf", "ceiling light", "power strip", "heater", "trash can", "clock", "whiteboard", "microwave", "cup", "bucket", "bowl", "plant"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/f9f95681fd.json b/data/spatial codes/ground truth/explicit/f9f95681fd.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a4e5de9177a0a13f858cb23c621b1b6cf60fea
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/f9f95681fd.json	
@@ -0,0 +1,355 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "2.35 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "2.4 meters"
+     },
+     "longest dimension": "0.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.79 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "2.39 meters"
+     },
+     "longest dimension": "0.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.38 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "0.57 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.1 meters"
+    }
+   ]
+  },
+  "kettle": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "kettle": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   }
+  },
+  "exhaust fan": {
+   "refrigerator": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "1.46 meters",
+    "closeness rank": 5
+   },
+   "cup": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "exhaust fan": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   },
+   "kettle": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   }
+  },
+  "microwave": {
+   "door": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "kettle": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   }
+  },
+  "cup": {
+   "kettle": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "exhaust fan": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   }
+  },
+  "kettle": {
+   "cup": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "exhaust fan", "door", "refrigerator", "microwave", "cup", "kettle"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/fb5a96b1a2.json b/data/spatial codes/ground truth/explicit/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9237583b4bc7f81d7617894dee390e4ee06c836
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/fb5a96b1a2.json	
@@ -0,0 +1,824 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "ceiling light": {
+   "count": 12,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.09 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "2.68 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "3.33 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "4.98 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.61 meters",
+      "y coordinate": "5.8 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.23 meters",
+      "y coordinate": "4.0 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.24 meters",
+      "y coordinate": "6.23 meters",
+      "height above floor": "2.64 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.85 meters",
+      "y coordinate": "5.36 meters",
+      "height above floor": "2.61 meters"
+     },
+     "longest dimension": "0.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.31 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "2.63 meters"
+     },
+     "longest dimension": "0.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.53 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.09 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.69 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "5.18 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.68 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.57 meters",
+      "y coordinate": "6.04 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.04 meters",
+      "y coordinate": "5.29 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.4 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.26 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.96 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.73 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "3.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "4.73 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.56 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "1.99 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "5.53 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "2.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.33 meters",
+      "y coordinate": "6.07 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "power strip": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "4.95 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "4.92 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.74 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "whiteboard": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "bookshelf": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "2.04 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "2.35 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.17 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "4.43 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "4.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.1 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.45 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.62 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "1.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.54 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "2.68 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.43 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "5.26 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "5.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.79 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.33 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.54 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "2.87 meters",
+    "closeness rank": 9
+   }
+  },
+  "heater": {
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "2.87 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "3.42 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "3.87 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.75 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "4.81 meters",
+    "closeness rank": 8
+   },
+   "power strip": {
+    "distance": "5.06 meters",
+    "closeness rank": 9
+   }
+  },
+  "power strip": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "2.35 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "5.06 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "5.57 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "4.81 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "5.26 meters",
+    "closeness rank": 9
+   }
+  },
+  "computer mouse": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.68 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.76 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "3.42 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "sofa", "chair", "table", "bookshelf", "whiteboard", "heater", "power strip", "telephone", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0025_01.json b/data/spatial codes/ground truth/explicit/scene0025_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..148706918ae9593f3f9b4c15fcf87b2850572e97
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0025_01.json	
@@ -0,0 +1,640 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.53 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.02 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "2.28 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.49 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "2.74 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.82 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "0.01 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.66 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.38 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.84 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.38 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.44 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.54 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.58 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.38 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.29 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.85 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.33 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.44 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.92 meters",
+    "closeness rank": 9
+   }
+  },
+  "fan": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.24 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.41 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.31 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "2.99 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.29 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.84 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "2.92 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.79 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.05 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "1.06 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "window", "pillow", "monitor", "keyboard", "fan", "telephone", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0030_02.json b/data/spatial codes/ground truth/explicit/scene0030_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2015914811993ba91dfa545a88c4e37270cf3b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0030_02.json	
@@ -0,0 +1,563 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.58 meters",
+      "y coordinate": "-0.03 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "1.79 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.81 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-2.97 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.75 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.85 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.29 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-3.28 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "2.47 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.67 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "3.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.8 meters",
+      "y coordinate": "-0.62 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.84 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "5.38 meters",
+    "closeness rank": 6
+   }
+  },
+  "bookshelf": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "2.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "clock": {
+   "chair": {
+    "distance": "1.4 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "2.79 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "5.41 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "5.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "5.38 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.41 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.84 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "5.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "window", "bookshelf", "door", "trash bin", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0046_01.json b/data/spatial codes/ground truth/explicit/scene0046_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..433ceb9b924a4d91dd9aac98e8efe7bca64ef6d4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0046_01.json	
@@ -0,0 +1,687 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.47 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-0.46 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "-1.35 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.72 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.8 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.0 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.1 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.45 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.73 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.79 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "3.11 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "3.73 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "4.16 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.22 meters",
+    "closeness rank": 10
+   }
+  },
+  "towel": {
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.37 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.4 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.45 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.61 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.15 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.61 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.21 meters",
+    "closeness rank": 10
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.89 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.16 meters",
+    "closeness rank": 10
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.63 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.95 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "3.24 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "3.39 meters",
+    "closeness rank": 10
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.73 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.78 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.24 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "4.16 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "towel": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.0 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "3.16 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.21 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.39 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "4.22 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "towel": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.72 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.0 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.46 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "2.5 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.11 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "2.4 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.78 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["tv", "nightstand", "chair", "bed", "backpack", "lamp", "door", "trash bin", "towel", "mirror", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0050_01.json b/data/spatial codes/ground truth/explicit/scene0050_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e721dff18ea65641b21b792b32d5f41554a64d6d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0050_01.json	
@@ -0,0 +1,458 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.5 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "piano": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "-1.82 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "2.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "2.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "-0.41 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.96 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "2.93 meters",
+    "closeness rank": 7
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "piano": {
+    "distance": "0.66 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   }
+  },
+  "piano": {
+   "backpack": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.3 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.92 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.93 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.19 meters",
+    "closeness rank": 5
+   },
+   "piano": {
+    "distance": "0.68 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.14 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "piano": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "piano", "door", "backpack", "table", "chair", "lamp", "printer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0077_01.json b/data/spatial codes/ground truth/explicit/scene0077_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..60a1aeacaf83054bf8ed0d13cdc1056cb9925873
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0077_01.json	
@@ -0,0 +1,332 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "1.93 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "2.52 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "-2.14 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   }
+  },
+  "counter": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "printer": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.68 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.43 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "1.58 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.43 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "3.21 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["window", "counter", "printer", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0081_02.json b/data/spatial codes/ground truth/explicit/scene0081_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ac45cfd3e4082ad097588a215ff50d3d34d06a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0081_02.json	
@@ -0,0 +1,360 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 27,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "-1.93 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "2.74 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-2.53 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-2.92 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "-1.86 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "-3.08 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "-2.42 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-3.6 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-2.85 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.39 meters",
+      "y coordinate": "-2.32 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.58 meters",
+      "y coordinate": "-4.13 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-4.41 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-2.58 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "2.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "-2.93 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "2.33 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.78 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0086_02.json b/data/spatial codes/ground truth/explicit/scene0086_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..155b04dde5bd2c64aa9fe62db91a20fd17bf5fba
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0086_02.json	
@@ -0,0 +1,237 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-1.98 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.59 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "door": {
+    "distance": "2.57 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "4.37 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "4.64 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "4.67 meters",
+    "closeness rank": 4
+   }
+  },
+  "plant": {
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.64 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.67 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.08 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.57 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "plant", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0088_01.json b/data/spatial codes/ground truth/explicit/scene0088_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f145a33df3b3453649b9a16da4350bdca84f59b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0088_01.json	
@@ -0,0 +1,373 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.58 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "2.64 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.73 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "3.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "2.19 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0095_01.json b/data/spatial codes/ground truth/explicit/scene0095_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fbc1c5c30981709c17aaa6f724418b4b7930442
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0095_01.json	
@@ -0,0 +1,421 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 17,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.22 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.23 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.84 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-2.24 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "4.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "radiator": {
+   "window": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "radiator", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0100_00.json b/data/spatial codes/ground truth/explicit/scene0100_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f64a94f9849a567673112ca32b17a38c7de188b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0100_00.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "mirror": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "1.85 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.98 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["window", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0144_00.json b/data/spatial codes/ground truth/explicit/scene0144_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c511f89d2eb4ad4806c9c8e5357abb68ba3de7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0144_00.json	
@@ -0,0 +1,513 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "2.25 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.29 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.93 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.11 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.65 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.08 meters",
+    "closeness rank": 8
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.99 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.59 meters",
+    "closeness rank": 8
+   }
+  },
+  "printer": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.99 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.97 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "2.39 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "2.58 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.59 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.08 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.35 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "pillow", "lamp", "printer", "nightstand", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0146_01.json b/data/spatial codes/ground truth/explicit/scene0146_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..14fca3c6ef5b5e4a3a6e49960bb34dd8d4188d8e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0146_01.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.56 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "1.7 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "2.29 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["backpack", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0149_00.json b/data/spatial codes/ground truth/explicit/scene0149_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..167341941480f40dc094b78d6da94ef40868edce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0149_00.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "2.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.59 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "counter": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   }
+  },
+  "microwave": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.07 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.52 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.37 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.28 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "counter", "refrigerator", "microwave", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0153_00.json b/data/spatial codes/ground truth/explicit/scene0153_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..55bad8aab8241f44135a4e23368dede999e8702f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0153_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "towel": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.82 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-0.84 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "towel": {
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.77 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "towel": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["towel", "mirror", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0164_02.json b/data/spatial codes/ground truth/explicit/scene0164_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..06624c6a57cd297e347134d51ac7167e6830785e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0164_02.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.33 meters",
+      "y coordinate": "0.39 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.86 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   }
+  },
+  "towel": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "counter": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.03 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.18 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "2.05 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "3.03 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["towel", "counter", "microwave", "refrigerator", "backpack", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0169_01.json b/data/spatial codes/ground truth/explicit/scene0169_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1f47b7c51ba639d96c0aeee11415a2cb84edaa
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0169_01.json	
@@ -0,0 +1,452 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 22,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "-1.1 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.87 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "0.14 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "-2.71 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "-2.42 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-2.11 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-2.87 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "1.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.63 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.25 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "3.26 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "3.07 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "3.27 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.32 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "3.07 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.67 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0193_01.json b/data/spatial codes/ground truth/explicit/scene0193_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..57aa7009b61d05d8d96059953a5c77eb7acf68be
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0193_01.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "2.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.57 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.46 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.62 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0196_00.json b/data/spatial codes/ground truth/explicit/scene0196_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1a34f60c922b84ccf41ef70f331c430d9970b42
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0196_00.json	
@@ -0,0 +1,429 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 23,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-1.6 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.39 meters",
+      "y coordinate": "-1.63 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.31 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "-1.34 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "2.41 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "3.29 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "2.89 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.06 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "2.12 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "3.72 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "3.72 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "4.06 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0203_01.json b/data/spatial codes/ground truth/explicit/scene0203_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f8c7a7ae198ff1ce6af542aba940e0205f0389c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0203_01.json	
@@ -0,0 +1,411 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.49 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-2.33 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.54 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "3.61 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "2.08 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.16 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.61 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "bookshelf": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.21 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "4.65 meters",
+    "closeness rank": 6
+   }
+  },
+  "pillow": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.25 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.24 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "3.25 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "4.65 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "5.15 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.69 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "window", "bookshelf", "pillow", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0207_02.json b/data/spatial codes/ground truth/explicit/scene0207_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..271ae8685072011e1264f9e8279ca161ccb0a717
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0207_02.json	
@@ -0,0 +1,1767 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-2.59 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.11 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "-2.95 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.25 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "-3.07 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "-2.08 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "-2.08 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.26 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.59 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.15 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "0.56 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   },
+   "mirror": {
+    "distance": "1.94 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 14
+   },
+   "counter": {
+    "distance": "2.77 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "2.85 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.81 meters",
+    "closeness rank": 17
+   },
+   "refrigerator": {
+    "distance": "4.25 meters",
+    "closeness rank": 18
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.8 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.87 meters",
+    "closeness rank": 7
+   },
+   "nightstand": {
+    "distance": "1.36 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.6 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.83 meters",
+    "closeness rank": 11
+   },
+   "counter": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.06 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "2.61 meters",
+    "closeness rank": 14
+   },
+   "towel": {
+    "distance": "3.38 meters",
+    "closeness rank": 15
+   },
+   "refrigerator": {
+    "distance": "3.9 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "4.06 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "4.49 meters",
+    "closeness rank": 18
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.52 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "0.99 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "1.35 meters",
+    "closeness rank": 8
+   },
+   "monitor": {
+    "distance": "1.41 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "1.84 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.06 meters",
+    "closeness rank": 12
+   },
+   "bed": {
+    "distance": "2.1 meters",
+    "closeness rank": 13
+   },
+   "towel": {
+    "distance": "2.35 meters",
+    "closeness rank": 14
+   },
+   "pillow": {
+    "distance": "2.56 meters",
+    "closeness rank": 15
+   },
+   "refrigerator": {
+    "distance": "2.85 meters",
+    "closeness rank": 16
+   },
+   "microwave": {
+    "distance": "3.56 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "3.89 meters",
+    "closeness rank": 18
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.38 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.51 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.19 meters",
+    "closeness rank": 11
+   },
+   "trash bin": {
+    "distance": "3.1 meters",
+    "closeness rank": 12
+   },
+   "counter": {
+    "distance": "3.58 meters",
+    "closeness rank": 13
+   },
+   "door": {
+    "distance": "3.9 meters",
+    "closeness rank": 14
+   },
+   "mirror": {
+    "distance": "4.34 meters",
+    "closeness rank": 15
+   },
+   "towel": {
+    "distance": "4.9 meters",
+    "closeness rank": 16
+   },
+   "refrigerator": {
+    "distance": "5.51 meters",
+    "closeness rank": 17
+   },
+   "microwave": {
+    "distance": "5.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "counter": {
+   "towel": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.18 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.22 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.56 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.05 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.26 meters",
+    "closeness rank": 10
+   },
+   "bed": {
+    "distance": "2.77 meters",
+    "closeness rank": 11
+   },
+   "monitor": {
+    "distance": "2.81 meters",
+    "closeness rank": 12
+   },
+   "printer": {
+    "distance": "3.36 meters",
+    "closeness rank": 13
+   },
+   "radiator": {
+    "distance": "3.52 meters",
+    "closeness rank": 14
+   },
+   "window": {
+    "distance": "3.58 meters",
+    "closeness rank": 15
+   },
+   "nightstand": {
+    "distance": "3.73 meters",
+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.78 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "4.15 meters",
+    "closeness rank": 18
+   }
+  },
+  "refrigerator": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
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+    "closeness rank": 16
+   },
+   "mirror": {
+    "distance": "3.59 meters",
+    "closeness rank": 17
+   },
+   "pillow": {
+    "distance": "3.67 meters",
+    "closeness rank": 18
+   }
+  },
+  "door": {
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.93 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.96 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "2.06 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "2.61 meters",
+    "closeness rank": 12
+   },
+   "monitor": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "printer": {
+    "distance": "3.32 meters",
+    "closeness rank": 14
+   },
+   "nightstand": {
+    "distance": "3.45 meters",
+    "closeness rank": 15
+   },
+   "pillow": {
+    "distance": "3.53 meters",
+    "closeness rank": 16
+   },
+   "radiator": {
+    "distance": "3.85 meters",
+    "closeness rank": 17
+   },
+   "window": {
+    "distance": "3.9 meters",
+    "closeness rank": 18
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 7
+   },
+   "towel": {
+    "distance": "0.11 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "0.47 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "0.57 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "0.72 meters",
+    "closeness rank": 13
+   },
+   "refrigerator": {
+    "distance": "0.86 meters",
+    "closeness rank": 14
+   },
+   "sofa": {
+    "distance": "0.98 meters",
+    "closeness rank": 15
+   },
+   "counter": {
+    "distance": "1.22 meters",
+    "closeness rank": 16
+   },
+   "trash bin": {
+    "distance": "1.53 meters",
+    "closeness rank": 17
+   },
+   "mirror": {
+    "distance": "2.21 meters",
+    "closeness rank": 18
+   }
+  }
+ },
+ "appearance order": ["window", "table", "radiator", "printer", "pillow", "monitor", "closet", "bed", "sofa", "chair", "backpack", "nightstand", "trash bin", "towel", "refrigerator", "counter", "microwave", "door", "mirror"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0208_00.json b/data/spatial codes/ground truth/explicit/scene0208_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe5776e27aacd60157aad2780da9cec7c698653c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0208_00.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "37.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {}
+ },
+ "appearance order": ["table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0221_01.json b/data/spatial codes/ground truth/explicit/scene0221_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..909ca7fd11b4ee767c73c60e8aaa2e8f10a79ca4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0221_01.json	
@@ -0,0 +1,656 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-1.62 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.85 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.23 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.1 meters",
+      "y coordinate": "-1.44 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.1 meters",
+      "y coordinate": "-0.86 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.18 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "1.31 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.93 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.78 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.07 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "1.15 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.97 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.12 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.04 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.86 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.85 meters",
+    "closeness rank": 9
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.24 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "3.02 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.4 meters",
+    "closeness rank": 9
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.12 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.2 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "2.42 meters",
+    "closeness rank": 6
+   },
+   "radiator": {
+    "distance": "2.8 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.89 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.18 meters",
+    "closeness rank": 9
+   }
+  },
+  "microwave": {
+   "bed": {
+    "distance": "0.78 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "2.42 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.01 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.04 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "5.77 meters",
+    "closeness rank": 9
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.83 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "2.8 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.92 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "5.02 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "5.77 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "5.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.86 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.89 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "3.02 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "5.99 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.65 meters",
+    "closeness rank": 4
+   },
+   "microwave": {
+    "distance": "2.17 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "2.85 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "3.18 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "3.4 meters",
+    "closeness rank": 8
+   },
+   "radiator": {
+    "distance": "5.02 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "1.2 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.31 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "2.31 meters",
+    "closeness rank": 8
+   },
+   "microwave": {
+    "distance": "3.01 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "pillow", "lamp", "nightstand", "microwave", "radiator", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0222_01.json b/data/spatial codes/ground truth/explicit/scene0222_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..adb7896f352c59b2b658bb32baef3bf9334c44df
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0222_01.json	
@@ -0,0 +1,854 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-1.88 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "1.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "-1.3 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.56 meters",
+      "y coordinate": "-2.66 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "2.01 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "-2.63 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "-0.97 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-2.82 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-2.0 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "0.0 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "0.52 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "0.56 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "0.63 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.81 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.96 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "1.28 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.25 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.52 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.74 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "1.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "0.55 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.88 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.33 meters",
+    "closeness rank": 11
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.39 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 11
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 8
+   },
+   "fan": {
+    "distance": "2.51 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   },
+   "radiator": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   }
+  },
+  "fan": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "1.46 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "1.78 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.51 meters",
+    "closeness rank": 11
+   }
+  },
+  "radiator": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.74 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.95 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.1 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.12 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.25 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.61 meters",
+    "closeness rank": 10
+   },
+   "fan": {
+    "distance": "1.78 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.73 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "radiator": {
+    "distance": "1.95 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "radiator": {
+    "distance": "0.16 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.4 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "0.49 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["table", "pillow", "door", "chair", "bed", "window", "nightstand", "radiator", "refrigerator", "lamp", "fan", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0231_00.json b/data/spatial codes/ground truth/explicit/scene0231_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..01dd395fbae08bdc111a7bec3e0078f526bee8ce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0231_00.json	
@@ -0,0 +1,1084 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.75 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.95 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.49 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "1.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "5.42 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.99 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.89 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "1.77 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "-1.8 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "1.91 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.82 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "2.1 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "1.41 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "39.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "0.05 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "0.77 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "0.98 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "1.35 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "1.38 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "2.41 meters",
+    "closeness rank": 13
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.81 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "2.05 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.17 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.31 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "5.18 meters",
+    "closeness rank": 13
+   }
+  },
+  "window": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.68 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.08 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "4.58 meters",
+    "closeness rank": 13
+   }
+  },
+  "counter": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "microwave": {
+    "distance": "0.03 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.73 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "0.88 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "2.28 meters",
+    "closeness rank": 13
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.35 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.26 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "3.8 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.98 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "4.13 meters",
+    "closeness rank": 11
+   },
+   "window": {
+    "distance": "4.13 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.52 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.68 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "3.03 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.48 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.69 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "4.39 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "5.48 meters",
+    "closeness rank": 13
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.56 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "counter": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.39 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.95 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "3.35 meters",
+    "closeness rank": 11
+   },
+   "refrigerator": {
+    "distance": "3.98 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "4.97 meters",
+    "closeness rank": 13
+   }
+  },
+  "plant": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.31 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "3.35 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "3.65 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.65 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.69 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.77 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "3.8 meters",
+    "closeness rank": 10
+   },
+   "backpack": {
+    "distance": "4.04 meters",
+    "closeness rank": 11
+   },
+   "table": {
+    "distance": "4.26 meters",
+    "closeness rank": 12
+   },
+   "microwave": {
+    "distance": "4.39 meters",
+    "closeness rank": 13
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.81 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "2.2 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.26 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.37 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.04 meters",
+    "closeness rank": 13
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "2.37 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.41 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.33 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.34 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "3.37 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "4.39 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "4.58 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "4.97 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "5.18 meters",
+    "closeness rank": 12
+   },
+   "pillow": {
+    "distance": "5.48 meters",
+    "closeness rank": 13
+   }
+  },
+  "clock": {
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.31 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.36 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.39 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.63 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.71 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.03 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.65 meters",
+    "closeness rank": 13
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.05 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "counter": {
+    "distance": "0.73 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.36 meters",
+    "closeness rank": 9
+   },
+   "pillow": {
+    "distance": "1.52 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.18 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.34 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.65 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "clock": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.23 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 7
+   },
+   "microwave": {
+    "distance": "1.92 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.95 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.08 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.17 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "3.48 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "3.77 meters",
+    "closeness rank": 13
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.2 meters",
+    "closeness rank": 6
+   },
+   "counter": {
+    "distance": "0.84 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.02 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.15 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.32 meters",
+    "closeness rank": 10
+   },
+   "refrigerator": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   },
+   "microwave": {
+    "distance": "3.33 meters",
+    "closeness rank": 12
+   },
+   "plant": {
+    "distance": "4.26 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "microwave", "counter", "chair", "window", "lamp", "sofa", "pillow", "plant", "backpack", "clock", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0246_00.json b/data/spatial codes/ground truth/explicit/scene0246_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ecd0b18f1430e099538148be05815d6237ab709
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0246_00.json	
@@ -0,0 +1,466 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "2.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.97 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.3 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.38 meters",
+    "closeness rank": 7
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "towel": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "towel": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "1.2 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 7
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "mirror": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.16 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "2.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "mirror": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "1.2 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "nightstand": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.16 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "pillow", "lamp", "towel", "nightstand", "mirror", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0251_00.json b/data/spatial codes/ground truth/explicit/scene0251_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61b0544a5b90e06bec4bd654f5da34d288232c9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0251_00.json	
@@ -0,0 +1,301 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.67 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.57 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.28 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "2.7 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.49 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.74 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.05 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.22 meters",
+      "y coordinate": "-2.07 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.71 meters",
+      "y coordinate": "-2.99 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.54 meters",
+      "y coordinate": "-4.34 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "-3.89 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "3.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "35.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.22 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.22 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0277_02.json b/data/spatial codes/ground truth/explicit/scene0277_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd52faa3c248d4ab71f7bc580becbc700d50a90
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0277_02.json	
@@ -0,0 +1,347 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "1.71 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "-0.42 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.86 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.86 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.63 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "3.39 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "1.69 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.86 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.63 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "radiator", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0304_00.json b/data/spatial codes/ground truth/explicit/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c97d9449c4bd1e76e17c57bf526abc7e3cc3957
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0304_00.json	
@@ -0,0 +1,135 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "-1.48 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "-3.18 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "trash bin": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "3.18 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "4.92 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "3.18 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "4.92 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["backpack", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0307_02.json b/data/spatial codes/ground truth/explicit/scene0307_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..af172f6d83bc72fc5b662b21cfe3359023266186
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0307_02.json	
@@ -0,0 +1,387 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-3.48 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.91 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "1.81 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "-2.75 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "washing machine": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "3.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.51 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.74 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.88 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.46 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.38 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.03 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.04 meters",
+    "closeness rank": 5
+   },
+   "washing machine": {
+    "distance": "3.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "washing machine": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.85 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.5 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.93 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.57 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "washing machine": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.19 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "washing machine": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "refrigerator", "washing machine", "radiator", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0316_00.json b/data/spatial codes/ground truth/explicit/scene0316_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cb087b9107092c6ef41ab83f9d906b38c4c0b9b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0316_00.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.4 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.31 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0328_00.json b/data/spatial codes/ground truth/explicit/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c98a1103e5972b0b5284a7f28293369c05acfe79
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0328_00.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "1.27 meters",
+      "height above floor": "1.76 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.04 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "4.48 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "oven": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "counter": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.7 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "counter": {
+   "oven": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "microwave": {
+    "distance": "0.38 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "oven": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "microwave": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "microwave": {
+   "oven": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "oven": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "counter", "refrigerator", "microwave", "oven"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0338_00.json b/data/spatial codes/ground truth/explicit/scene0338_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a6c60b6628b2bebc8ae1e64b97a471d8f1d31f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0338_00.json	
@@ -0,0 +1,143 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.0 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "3.43 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.7 meters",
+      "y coordinate": "1.89 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.94 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.48 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["counter", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0353_00.json b/data/spatial codes/ground truth/explicit/scene0353_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..9585d9b11e6eaf8193f318e1f72d5d6188dc4057
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0353_00.json	
@@ -0,0 +1,830 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "-1.43 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "-1.4 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.02 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.6 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.7 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.18 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.19 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "0.28 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "0.8 meters",
+    "closeness rank": 11
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.25 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.61 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "0.97 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "1.34 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.14 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.6 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "3.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "4.24 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "4.91 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "4.97 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.25 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.46 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.69 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.35 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.72 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.82 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.97 meters",
+    "closeness rank": 11
+   }
+  },
+  "refrigerator": {
+   "backpack": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.06 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.14 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.24 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.35 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.06 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "1.41 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.29 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.41 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.72 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.71 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.9 meters",
+    "closeness rank": 11
+   }
+  },
+  "closet": {
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.28 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.65 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.72 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "3.91 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "closet": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.24 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.71 meters",
+    "closeness rank": 9
+   },
+   "table": {
+    "distance": "2.79 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.91 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.46 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.09 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.97 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "2.22 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.24 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.42 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.57 meters",
+    "closeness rank": 7
+   },
+   "closet": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.79 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["trash bin", "sofa", "pillow", "door", "chair", "bookshelf", "table", "bed", "backpack", "window", "refrigerator", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0354_00.json b/data/spatial codes/ground truth/explicit/scene0354_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef405e55e142776c02513a93366b642b0613f2a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0354_00.json	
@@ -0,0 +1,332 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.37 meters",
+      "y coordinate": "-0.92 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "0.19 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.69 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.9 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.45 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.9 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.0 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.45 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.83 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "tv", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0356_00.json b/data/spatial codes/ground truth/explicit/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..17a5df568b8366c1b4b892acdbf244c7ce71234e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0356_00.json	
@@ -0,0 +1,434 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.34 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.92 meters",
+      "y coordinate": "0.66 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.3 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "-0.36 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.13 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.12 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.71 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.06 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "2.69 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.94 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "radiator": {
+   "door": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.96 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "2.1 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.69 meters",
+    "closeness rank": 7
+   }
+  },
+  "telephone": {
+   "door": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.06 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "2.1 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.55 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.74 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "3.8 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.9 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.74 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "radiator": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.49 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.71 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.9 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.94 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.77 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "radiator": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.53 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "radiator", "telephone", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0357_01.json b/data/spatial codes/ground truth/explicit/scene0357_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..db202d8525d386866d863e856d204f27f44ce7df
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0357_01.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.97 meters",
+      "y coordinate": "0.31 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.64 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.37 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "towel": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "window": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.21 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.7 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.71 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.26 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "towel", "backpack", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0378_01.json b/data/spatial codes/ground truth/explicit/scene0378_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1a5c96e6e4c855594c100cda51e9aa2e1b8aaaf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0378_01.json	
@@ -0,0 +1,545 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.07 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "3.11 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "1.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-1.74 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.91 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "2.3 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.19 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.5 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "0.7 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.32 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.6 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.58 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.12 meters",
+    "closeness rank": 8
+   }
+  },
+  "printer": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "2.1 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.13 meters",
+    "closeness rank": 8
+   }
+  },
+  "clock": {
+   "bookshelf": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.04 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.75 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.98 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.79 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.98 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.76 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.12 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.76 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "3.13 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.04 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["window", "trash bin", "table", "printer", "monitor", "chair", "bookshelf", "door", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0412_00.json b/data/spatial codes/ground truth/explicit/scene0412_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..7027e80b34fcc429e4523b1910c2478937d52726
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0412_00.json	
@@ -0,0 +1,215 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash bin": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.74 meters",
+      "y coordinate": "2.84 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "-3.12 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "-2.02 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "-0.68 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "1.72 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0426_00.json b/data/spatial codes/ground truth/explicit/scene0426_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..fab78ba6396a8721c871a014404fe1fa8f91ec9f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0426_00.json	
@@ -0,0 +1,632 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "-0.57 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-1.36 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.37 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.09 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.47 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "1.82 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.37 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.48 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.31 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.85 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.3 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.66 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.85 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.47 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.51 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.55 meters",
+    "closeness rank": 9
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.08 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.18 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.3 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.31 meters",
+    "closeness rank": 9
+   }
+  },
+  "tv": {
+   "door": {
+    "distance": "0.62 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "1.2 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.95 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.37 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "2.47 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.55 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.66 meters",
+    "closeness rank": 9
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.7 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.68 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.85 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.95 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.08 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.68 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.31 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "2.38 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.51 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.85 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.38 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["table", "pillow", "monitor", "bed", "chair", "backpack", "tv", "door", "lamp", "window"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0435_02.json b/data/spatial codes/ground truth/explicit/scene0435_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..47be5b4efa2256a20e554689ee44348e1b791b2b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0435_02.json	
@@ -0,0 +1,751 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "2.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.83 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-1.68 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-1.87 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.06 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "-1.89 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.66 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.06 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.68 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.75 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.9 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "1.13 meters",
+    "closeness rank": 10
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.2 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.73 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.56 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 10
+   }
+  },
+  "refrigerator": {
+   "bed": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.73 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.64 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.72 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.48 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.48 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.9 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.25 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "1.26 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.06 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.77 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.13 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.25 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.64 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.9 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.91 meters",
+    "closeness rank": 9
+   },
+   "backpack": {
+    "distance": "3.43 meters",
+    "closeness rank": 10
+   }
+  },
+  "nightstand": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.52 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.53 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.6 meters",
+    "closeness rank": 8
+   },
+   "refrigerator": {
+    "distance": "2.72 meters",
+    "closeness rank": 9
+   },
+   "tv": {
+    "distance": "2.91 meters",
+    "closeness rank": 10
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.17 meters",
+    "closeness rank": 4
+   },
+   "nightstand": {
+    "distance": "1.52 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.06 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "2.7 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.43 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.59 meters",
+    "closeness rank": 10
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.77 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.9 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.95 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "2.58 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.64 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.7 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.99 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "bed": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.98 meters",
+    "closeness rank": 3
+   },
+   "nightstand": {
+    "distance": "2.53 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.65 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "2.77 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.99 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "4.59 meters",
+    "closeness rank": 9
+   },
+   "refrigerator": {
+    "distance": "5.0 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "2.29 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.48 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "refrigerator", "pillow", "lamp", "tv", "nightstand", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0441_00.json b/data/spatial codes/ground truth/explicit/scene0441_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..14af9df5c6924ff9379f4bb4e96c69230e725fc6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0441_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "-1.25 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "mirror": {
+   "trash bin": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.67 meters",
+    "closeness rank": 2
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "1.67 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0458_00.json b/data/spatial codes/ground truth/explicit/scene0458_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed13cdc421f70a4c5908a2da17499d908f0572c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0458_00.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.32 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "trash bin": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "mirror": {
+    "distance": "0.71 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "trash bin": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "mirror": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.89 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.25 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0461_00.json b/data/spatial codes/ground truth/explicit/scene0461_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..edeac091a175ffd8a4b18d24e4399f7a4e7b82e4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0461_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.9 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0462_00.json b/data/spatial codes/ground truth/explicit/scene0462_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..de653e560ed45662e089f5722d331176ca0b6f57
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0462_00.json	
@@ -0,0 +1,198 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.43 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "-1.92 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "2.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "door": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "printer": {
+   "trash bin": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "printer": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.5 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "refrigerator": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.55 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.9 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "printer", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0474_04.json b/data/spatial codes/ground truth/explicit/scene0474_04.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f9a390fa7338a5a8ea77dd501d8b3edc84ab0c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0474_04.json	
@@ -0,0 +1,632 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.57 meters",
+      "y coordinate": "-1.12 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "2.33 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "0.59 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "2.01 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.45 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.53 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.15 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "3.56 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.51 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.28 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.32 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   }
+  },
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.71 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.75 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.7 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.18 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.75 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.71 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.22 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "3.54 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.58 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.7 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.44 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.64 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.19 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.36 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.22 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.44 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.51 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "2.75 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "3.58 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.64 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.92 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.88 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "window", "bookshelf", "pillow", "monitor", "backpack", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0488_01.json b/data/spatial codes/ground truth/explicit/scene0488_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..31800248ad248c8cd6c81ac51c9b7c3f01f5b321
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0488_01.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.63 meters",
+      "y coordinate": "-1.55 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "2.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "2.67 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.52 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "-0.83 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "microwave": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-1.72 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "microwave": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   }
+  },
+  "microwave": {
+   "counter": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["counter", "refrigerator", "microwave"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0494_00.json b/data/spatial codes/ground truth/explicit/scene0494_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..aced6621e9c28a19c27e68169420576adfbbd7a8
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0494_00.json	
@@ -0,0 +1,245 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.98 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.71 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.27 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.22 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.0 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.0 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0496_00.json b/data/spatial codes/ground truth/explicit/scene0496_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..737733616e1868964fe0f959e61bf9f03a32b1ed
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0496_00.json	
@@ -0,0 +1,373 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 16,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.41 meters",
+      "y coordinate": "-1.39 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.33 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.79 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "-1.23 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.15 meters",
+      "y coordinate": "1.99 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.27 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "-2.44 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-2.48 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "3.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "32.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.14 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.34 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "4.11 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "5.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.88 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "4.11 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.96 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "5.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.88 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0500_00.json b/data/spatial codes/ground truth/explicit/scene0500_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..acc906a9f9b1a564dd65923462feefbeb3c00c6e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0500_00.json	
@@ -0,0 +1,518 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 39,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-4.7 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.28 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.67 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "-4.11 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.85 meters",
+      "y coordinate": "-0.2 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "-0.1 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "4.73 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "-3.53 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "-4.08 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "-4.07 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-4.26 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "-1.69 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.52 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "2.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "-0.15 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-1.56 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-1.79 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "-4.87 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-4.98 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "-4.98 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.76 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.56 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.4 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "3.4 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.69 meters",
+      "y coordinate": "4.61 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.03 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.67 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "-4.07 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-5.86 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.42 meters",
+      "y coordinate": "-0.31 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.75 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "5.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "52.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "5.02 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "5.02 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0518_00.json b/data/spatial codes/ground truth/explicit/scene0518_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..1423cb93c9c99a0e243eb99750c1c32c89e2d326
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0518_00.json	
@@ -0,0 +1,300 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.29 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.16 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.87 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.71 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "1.41 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "2.13 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "1.74 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "pillow", "tv", "backpack", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0550_00.json b/data/spatial codes/ground truth/explicit/scene0550_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d201e218fcfc4a0b530be48c1fc5d6ffef7a2610
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0550_00.json	
@@ -0,0 +1,221 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.21 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-0.91 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.48 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "1.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "window": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "window": {
+    "distance": "0.59 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   }
+  },
+  "radiator": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "1.29 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "2.15 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["window", "mirror", "radiator", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0553_00.json b/data/spatial codes/ground truth/explicit/scene0553_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c97d1bfe93d03dae716294212531ca70a10a8ec4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0553_00.json	
@@ -0,0 +1,174 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.24 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-0.9 meters",
+      "height above floor": "1.53 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.38 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "backpack": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.98 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "backpack": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["backpack", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0565_00.json b/data/spatial codes/ground truth/explicit/scene0565_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c7e0870db695286e98d55a9dd62d5f9b024850
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0565_00.json	
@@ -0,0 +1,514 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.77 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "-2.1 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.86 meters",
+      "y coordinate": "-2.47 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.69 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.42 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.27 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.95 meters",
+      "y coordinate": "-1.93 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.08 meters",
+      "y coordinate": "-1.13 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.42 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.03 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.32 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.33 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.48 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.2 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.03 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.33 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   }
+  },
+  "keyboard": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.49 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.48 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "2.43 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.57 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.08 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.01 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "1.18 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "printer", "keyboard", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0568_02.json b/data/spatial codes/ground truth/explicit/scene0568_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..aded688cbb3346d4fabe41c670da252d0a5536d3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0568_02.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "-2.7 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "-2.22 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.76 meters",
+      "y coordinate": "-0.28 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "3.0 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "-3.24 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.05 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.28 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.33 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "2.37 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.54 meters",
+    "closeness rank": 5
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.37 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "4.65 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "5.35 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "5.66 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.6 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "radiator": {
+    "distance": "2.14 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "5.35 meters",
+    "closeness rank": 5
+   }
+  },
+  "radiator": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.14 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "5.66 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "4.65 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "sofa", "chair", "bookshelf", "radiator", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0574_01.json b/data/spatial codes/ground truth/explicit/scene0574_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..0996c317490eb3a787e986f00fe7161e7810dbc3
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0574_01.json	
@@ -0,0 +1,206 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "towel": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-1.03 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.39 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.94 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "4.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "towel": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   }
+  },
+  "mirror": {
+   "towel": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "trash bin": {
+   "door": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "towel": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.66 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0575_01.json b/data/spatial codes/ground truth/explicit/scene0575_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5872b8cecb22212283ce192c0a659532b125dd6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0575_01.json	
@@ -0,0 +1,356 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.73 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.4 meters",
+      "y coordinate": "0.34 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "-1.09 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "2.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.4 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.78 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "2.65 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.26 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "5.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "1.35 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "5.14 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.26 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "1.05 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "tv", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0580_01.json b/data/spatial codes/ground truth/explicit/scene0580_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fc53f54e9d1a20736f7720948345a2321f1d8f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0580_01.json	
@@ -0,0 +1,798 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.33 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.2 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.95 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "1.82 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "nightstand": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.8 meters",
+      "y coordinate": "-1.06 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.19 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.77 meters",
+      "y coordinate": "0.13 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.17 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "0.5 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "0.51 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "lamp": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "nightstand": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.66 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.96 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.09 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "0.71 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "0.88 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.07 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.07 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.66 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.88 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.2 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.57 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.71 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.72 meters",
+    "closeness rank": 9
+   },
+   "trash bin": {
+    "distance": "2.02 meters",
+    "closeness rank": 10
+   },
+   "mirror": {
+    "distance": "2.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.3 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.68 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.57 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "nightstand": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.58 meters",
+    "closeness rank": 11
+   }
+  },
+  "backpack": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "nightstand": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "0.27 meters",
+    "closeness rank": 8
+   },
+   "mirror": {
+    "distance": "1.74 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.88 meters",
+    "closeness rank": 10
+   },
+   "trash bin": {
+    "distance": "2.19 meters",
+    "closeness rank": 11
+   }
+  },
+  "mirror": {
+   "bookshelf": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.42 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.03 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "2.13 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash bin": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.56 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.02 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "2.19 meters",
+    "closeness rank": 9
+   },
+   "nightstand": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "backpack": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "nightstand": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.81 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.97 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "2.07 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.2 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.52 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.27 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.33 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "0.97 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "mirror": {
+    "distance": "1.42 meters",
+    "closeness rank": 8
+   },
+   "nightstand": {
+    "distance": "1.6 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "2.07 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "lamp", "door", "bed", "backpack", "chair", "table", "window", "bookshelf", "mirror", "trash bin"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0591_01.json b/data/spatial codes/ground truth/explicit/scene0591_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..612d700c65344e5b69072adb2054c229e77767ed
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0591_01.json	
@@ -0,0 +1,957 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.53 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.36 meters",
+      "y coordinate": "0.84 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.53 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.48 meters"
+     },
+     "longest dimension": "3.46 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.5 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.1 meters",
+      "y coordinate": "-0.04 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.99 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.55 meters",
+      "y coordinate": "-1.45 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.46 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "2.18 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-0.17 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.46 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.47 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "0.52 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.39 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.7 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.05 meters",
+    "closeness rank": 12
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.65 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.49 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.26 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.56 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.58 meters",
+    "closeness rank": 12
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.36 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.45 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "0.85 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.56 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.64 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.65 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "1.96 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.64 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "2.74 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "2.82 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "3.07 meters",
+    "closeness rank": 12
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.26 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.33 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.09 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.14 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.62 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.88 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.51 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.0 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.37 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.47 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.74 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.7 meters",
+    "closeness rank": 12
+   }
+  },
+  "keyboard": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.05 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.51 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.78 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.89 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.99 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.3 meters",
+    "closeness rank": 12
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.78 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.97 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.03 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.37 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "2.36 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.58 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "3.07 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 12
+   }
+  },
+  "telephone": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.52 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.59 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "1.13 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "2.26 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "2.64 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "4.33 meters",
+    "closeness rank": 12
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.09 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.13 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.65 meters",
+    "closeness rank": 11
+   },
+   "backpack": {
+    "distance": "2.36 meters",
+    "closeness rank": 12
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.59 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "1.0 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.63 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "1.96 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.79 meters",
+    "closeness rank": 12
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.49 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.88 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.05 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.3 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "3.79 meters",
+    "closeness rank": 8
+   },
+   "backpack": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.33 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "4.64 meters",
+    "closeness rank": 11
+   },
+   "plant": {
+    "distance": "4.7 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.12 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "0.21 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 10
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "2.49 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["window", "trash bin", "telephone", "table", "sofa", "plant", "monitor", "chair", "keyboard", "backpack", "pillow", "door", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0593_00.json b/data/spatial codes/ground truth/explicit/scene0593_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2257b5a05f02fa17514d152aa6ec9f4a5715623
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0593_00.json	
@@ -0,0 +1,434 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "-0.18 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.82 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "1.62 meters"
+     },
+     "longest dimension": "1.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "-0.4 meters",
+      "height above floor": "1.29 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.83 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.24 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.95 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.24 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.35 meters",
+      "y coordinate": "-1.04 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.52 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "3.22 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.85 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.41 meters",
+    "closeness rank": 7
+   }
+  },
+  "window": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "4.35 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.41 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.52 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.82 meters",
+    "closeness rank": 7
+   }
+  },
+  "printer": {
+   "trash bin": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.22 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "3.43 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.25 meters",
+    "closeness rank": 7
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.13 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "2.61 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "3.43 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "4.0 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.52 meters",
+    "closeness rank": 7
+   }
+  },
+  "fan": {
+   "printer": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.67 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.35 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.61 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "3.42 meters",
+    "closeness rank": 7
+   }
+  },
+  "trash bin": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.67 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "3.67 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.85 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "4.0 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "4.23 meters",
+    "closeness rank": 7
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "1.13 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.58 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.67 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.35 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.86 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "2.58 meters",
+    "closeness rank": 3
+   },
+   "fan": {
+    "distance": "3.42 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "4.23 meters",
+    "closeness rank": 5
+   },
+   "printer": {
+    "distance": "4.25 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.82 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "backpack", "window", "trash bin", "printer", "fan", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0598_02.json b/data/spatial codes/ground truth/explicit/scene0598_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a497f2cb681052784fda33828f2e14e6fc438de
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0598_02.json	
@@ -0,0 +1,88 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bookshelf": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.69 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "3.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bookshelf": {}
+ },
+ "appearance order": ["bookshelf"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0608_00.json b/data/spatial codes/ground truth/explicit/scene0608_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..17ce9b145c18fd81cbdbd49640320eebf3ca4550
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0608_00.json	
@@ -0,0 +1,727 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "-0.89 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.5 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "-0.6 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "2.34 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "-0.19 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.98 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-1.81 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "2.06 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "1.37 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "1.64 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "guitar": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.19 meters",
+      "y coordinate": "-2.29 meters",
+      "height above floor": "1.89 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.29 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.1 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.94 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "guitar": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.85 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.94 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.27 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.9 meters",
+    "closeness rank": 6
+   },
+   "guitar": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.21 meters",
+    "closeness rank": 10
+   }
+  },
+  "window": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   },
+   "guitar": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.77 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "3.5 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.72 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "1.4 meters",
+    "closeness rank": 6
+   },
+   "guitar": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "3.8 meters",
+    "closeness rank": 10
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.32 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "2.33 meters",
+    "closeness rank": 5
+   },
+   "guitar": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.78 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "3.32 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "3.41 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "3.5 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.29 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 6
+   },
+   "guitar": {
+    "distance": "1.15 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "2.42 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "3.41 meters",
+    "closeness rank": 10
+   }
+  },
+  "plant": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "guitar": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.9 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.4 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.33 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.73 meters",
+    "closeness rank": 10
+   }
+  },
+  "clock": {
+   "plant": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "guitar": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.6 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "3.21 meters",
+    "closeness rank": 7
+   },
+   "lamp": {
+    "distance": "3.32 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "3.8 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "5.26 meters",
+    "closeness rank": 10
+   }
+  },
+  "guitar": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.72 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "clock": {
+    "distance": "1.3 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.42 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.95 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "2.47 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.98 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "sofa": {
+    "distance": "0.29 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.99 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "2.73 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "2.78 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.72 meters",
+    "closeness rank": 8
+   },
+   "guitar": {
+    "distance": "3.98 meters",
+    "closeness rank": 9
+   },
+   "clock": {
+    "distance": "5.26 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "guitar": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "clock": {
+    "distance": "1.7 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.99 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["window", "tv", "table", "plant", "guitar", "chair", "sofa", "pillow", "door", "lamp", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0616_01.json b/data/spatial codes/ground truth/explicit/scene0616_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc0d01b6a59e733d838cea510cddede751f76c0e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0616_01.json	
@@ -0,0 +1,411 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "-1.57 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.17 meters",
+      "y coordinate": "-1.67 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.96 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.71 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "-0.79 meters",
+      "height above floor": "1.83 meters"
+     },
+     "longest dimension": "1.43 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "radiator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "4.74 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "0.21 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-2.35 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "-0.52 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "0.98 meters",
+    "closeness rank": 6
+   }
+  },
+  "window": {
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.18 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "3.53 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "radiator": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.53 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "2.18 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.82 meters",
+    "closeness rank": 6
+   }
+  },
+  "radiator": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "3.23 meters",
+    "closeness rank": 6
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.1 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "2.82 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "3.23 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.79 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "radiator": {
+    "distance": "1.82 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "3.53 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "radiator": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.35 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.63 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "2.1 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "lamp", "radiator", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0621_00.json b/data/spatial codes/ground truth/explicit/scene0621_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d2ffd70433940ea17fb6b378dcbd70f24c4dec
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0621_00.json	
@@ -0,0 +1,375 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 27,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.04 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.0 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.04 meters",
+      "y coordinate": "-2.13 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.33 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.02 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.95 meters",
+      "y coordinate": "-0.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.86 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.77 meters",
+      "y coordinate": "2.28 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.23 meters",
+      "y coordinate": "2.68 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "2.34 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.87 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.46 meters",
+      "y coordinate": "-0.56 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.32 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.71 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.24 meters",
+      "y coordinate": "-2.8 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.14 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-0.39 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.72 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0629_01.json b/data/spatial codes/ground truth/explicit/scene0629_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..1235eab429e229fb3daba3673330c4a5dc904341
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0629_01.json	
@@ -0,0 +1,292 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.52 meters",
+      "y coordinate": "0.07 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.22 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.55 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "1.66 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "-2.19 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.84 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.28 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.98 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.42 meters",
+    "closeness rank": 5
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   }
+  },
+  "mirror": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.42 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.88 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "plant", "mirror", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0633_00.json b/data/spatial codes/ground truth/explicit/scene0633_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3896c74c12e892c68e53b477cec35e308539b2a9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0633_00.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.13 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.49 meters",
+      "y coordinate": "-0.58 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "1.86 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.06 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  },
+  "pillow": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.72 meters",
+    "closeness rank": 5
+   }
+  },
+  "lamp": {
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   }
+  },
+  "clock": {
+   "window": {
+    "distance": "1.94 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.29 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.72 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "2.78 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "pillow", "lamp", "clock", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0643_00.json b/data/spatial codes/ground truth/explicit/scene0643_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..922674042cab3b84005356784357c053964c4784
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0643_00.json	
@@ -0,0 +1,656 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.7 meters",
+      "y coordinate": "0.24 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.54 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "2.57 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.16 meters",
+      "y coordinate": "1.01 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "2.22 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.25 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "-1.51 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "0.29 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.07 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.89 meters",
+      "y coordinate": "0.56 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.18 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "1.11 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.27 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.81 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.22 meters",
+    "closeness rank": 9
+   }
+  },
+  "window": {
+   "door": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.74 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.0 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.08 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "2.8 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.11 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "4.48 meters",
+    "closeness rank": 9
+   }
+  },
+  "bookshelf": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.07 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "keyboard": {
+    "distance": "2.09 meters",
+    "closeness rank": 9
+   }
+  },
+  "refrigerator": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.71 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.76 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.8 meters",
+    "closeness rank": 9
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.71 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "1.23 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "2.0 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.31 meters",
+    "closeness rank": 9
+   }
+  },
+  "telephone": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "1.96 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "2.07 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.27 meters",
+    "closeness rank": 7
+   },
+   "monitor": {
+    "distance": "2.32 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "3.11 meters",
+    "closeness rank": 9
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.76 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.96 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.31 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.63 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "4.48 meters",
+    "closeness rank": 9
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.12 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.6 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "2.27 meters",
+    "closeness rank": 8
+   },
+   "trash bin": {
+    "distance": "3.63 meters",
+    "closeness rank": 9
+   }
+  },
+  "table": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.1 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.26 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "0.38 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.51 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.47 meters",
+    "closeness rank": 9
+   }
+  }
+ },
+ "appearance order": ["trash bin", "telephone", "table", "refrigerator", "chair", "monitor", "bookshelf", "door", "window", "keyboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0645_00.json b/data/spatial codes/ground truth/explicit/scene0645_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11bca7cdfc9e77884f4f6963f00091d8136eb42
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0645_00.json	
@@ -0,0 +1,1355 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "-2.23 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.47 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.73 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.87 meters",
+      "y coordinate": "3.21 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.41 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.41 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "1.66 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.61 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "1.99 meters"
+     },
+     "longest dimension": "1.92 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 14,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.19 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "3.35 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.59 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.88 meters",
+      "y coordinate": "-0.98 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.33 meters",
+      "y coordinate": "-1.05 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.56 meters",
+      "y coordinate": "-1.15 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.91 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.97 meters",
+      "y coordinate": "-1.58 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "-2.45 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "-2.49 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "-2.67 meters",
+      "height above floor": "1.47 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "-2.85 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-3.05 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.66 meters",
+      "y coordinate": "1.18 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "-2.09 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.98 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "2.11 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "-1.94 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
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+    "distance": "5.3 meters",
+    "closeness rank": 14
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "mirror": {
+    "distance": "0.43 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 5
+   },
+   "towel": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.98 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "sofa": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.38 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.76 meters",
+    "closeness rank": 11
+   },
+   "pillow": {
+    "distance": "2.2 meters",
+    "closeness rank": 12
+   },
+   "nightstand": {
+    "distance": "3.51 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "5.66 meters",
+    "closeness rank": 14
+   }
+  },
+  "door": {
+   "towel": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.74 meters",
+    "closeness rank": 5
+   },
+   "mirror": {
+    "distance": "0.89 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.66 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 8
+   },
+   "chair": {
+    "distance": "1.99 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.11 meters",
+    "closeness rank": 10
+   },
+   "nightstand": {
+    "distance": "2.68 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.85 meters",
+    "closeness rank": 12
+   },
+   "sofa": {
+    "distance": "2.91 meters",
+    "closeness rank": 13
+   },
+   "window": {
+    "distance": "4.65 meters",
+    "closeness rank": 14
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "mirror": {
+    "distance": "0.03 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "0.23 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.49 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.7 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 12
+   },
+   "towel": {
+    "distance": "2.66 meters",
+    "closeness rank": 13
+   },
+   "nightstand": {
+    "distance": "3.5 meters",
+    "closeness rank": 14
+   }
+  }
+ },
+ "appearance order": ["pillow", "nightstand", "lamp", "door", "bed", "backpack", "window", "chair", "table", "sofa", "trash bin", "telephone", "mirror", "tv", "towel"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0647_00.json b/data/spatial codes/ground truth/explicit/scene0647_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bcfef9473c931e4d67b5540ca9c5d8a5d55ab42
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0647_00.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.67 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.29 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.45 meters",
+      "y coordinate": "-2.51 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "1.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.68 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "2.82 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.84 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "-2.74 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.05 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.15 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "4.27 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "backpack": {
+   "sofa": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.27 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.34 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "1.64 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.15 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.45 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "tv", "backpack", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0648_00.json b/data/spatial codes/ground truth/explicit/scene0648_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..46cac23598ef3852ab26395645a623b17829f7ab
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0648_00.json	
@@ -0,0 +1,846 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.23 meters"
+     },
+     "longest dimension": "2.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "2.52 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.93 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "-0.01 meters",
+      "height above floor": "1.58 meters"
+     },
+     "longest dimension": "1.37 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.5 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.59 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.22 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.11 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "-1.38 meters",
+      "height above floor": "1.35 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "1.28 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "0.67 meters",
+      "height above floor": "1.39 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-1.14 meters",
+      "height above floor": "1.71 meters"
+     },
+     "longest dimension": "0.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.34 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "1.68 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.43 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "closet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.61 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  },
+  "fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "-0.48 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.16 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "bookshelf": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "0.02 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "0.23 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "1.2 meters",
+    "closeness rank": 11
+   }
+  },
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "0.67 meters",
+    "closeness rank": 9
+   },
+   "plant": {
+    "distance": "0.67 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "0.95 meters",
+    "closeness rank": 11
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.17 meters",
+    "closeness rank": 9
+   },
+   "closet": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.53 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "lamp": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.17 meters",
+    "closeness rank": 10
+   },
+   "plant": {
+    "distance": "2.29 meters",
+    "closeness rank": 11
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.34 meters",
+    "closeness rank": 6
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.65 meters",
+    "closeness rank": 8
+   },
+   "closet": {
+    "distance": "1.18 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.62 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   }
+  },
+  "lamp": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.21 meters",
+    "closeness rank": 6
+   },
+   "bookshelf": {
+    "distance": "1.54 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.63 meters",
+    "closeness rank": 8
+   },
+   "plant": {
+    "distance": "2.6 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   },
+   "closet": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "closet": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.34 meters",
+    "closeness rank": 4
+   },
+   "fan": {
+    "distance": "0.61 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.07 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "2.09 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "2.29 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.6 meters",
+    "closeness rank": 11
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fan": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.53 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.65 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "0.77 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "1.07 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "1.21 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "1.56 meters",
+    "closeness rank": 11
+   }
+  },
+  "closet": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.08 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.17 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.77 meters",
+    "closeness rank": 5
+   },
+   "fan": {
+    "distance": "1.04 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.18 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.2 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "1.79 meters",
+    "closeness rank": 9
+   },
+   "window": {
+    "distance": "2.65 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "2.7 meters",
+    "closeness rank": 11
+   }
+  },
+  "fan": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.23 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "closet": {
+    "distance": "1.04 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "window": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "lamp": {
+    "distance": "1.63 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "closet": {
+    "distance": "0.08 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "1.1 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "1.1 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.16 meters",
+    "closeness rank": 6
+   },
+   "backpack": {
+    "distance": "1.27 meters",
+    "closeness rank": 7
+   },
+   "fan": {
+    "distance": "1.44 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.73 meters",
+    "closeness rank": 9
+   },
+   "lamp": {
+    "distance": "2.67 meters",
+    "closeness rank": 10
+   },
+   "window": {
+    "distance": "3.03 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "closet": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "fan": {
+    "distance": "0.11 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.14 meters",
+    "closeness rank": 8
+   },
+   "lamp": {
+    "distance": "0.34 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.49 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "1.32 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["table", "pillow", "lamp", "chair", "bed", "fan", "door", "bookshelf", "window", "plant", "backpack", "closet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0651_02.json b/data/spatial codes/ground truth/explicit/scene0651_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d00d5b2b3007742815264a6600795dfd2636fd
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0651_02.json	
@@ -0,0 +1,308 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "-0.73 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.51 meters",
+      "y coordinate": "-1.53 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.04 meters",
+      "y coordinate": "-3.1 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.75 meters",
+      "y coordinate": "2.2 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "1.26 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.81 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.25 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "1.76 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.02 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "3.11 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "3.47 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "3.66 meters",
+    "closeness rank": 5
+   }
+  },
+  "counter": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.76 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.25 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.32 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.11 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.02 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.29 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.66 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.4 meters",
+    "closeness rank": 3
+   },
+   "counter": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "2.29 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "counter", "refrigerator", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0653_00.json b/data/spatial codes/ground truth/explicit/scene0653_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..486bb3605457dfcf3a0e75fcab855c98c0997cbe
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0653_00.json	
@@ -0,0 +1,665 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.07 meters",
+      "y coordinate": "2.11 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.5 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.09 meters",
+      "y coordinate": "-2.4 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-1.84 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.74 meters",
+      "y coordinate": "-0.33 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.69 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "2.0 meters"
+     },
+     "longest dimension": "2.17 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "-1.65 meters",
+      "height above floor": "2.19 meters"
+     },
+     "longest dimension": "2.26 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.04 meters",
+      "y coordinate": "1.91 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "-0.32 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-2.18 meters",
+      "height above floor": "1.27 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "-2.04 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.88 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.32 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.65 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "0.97 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.9 meters",
+      "y coordinate": "-1.76 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.92 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "clock": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.85 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "2.02 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "-0.85 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "-0.08 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "-2.26 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "1.5 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.6 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "1.19 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "clock": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.19 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "2.03 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.27 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "trash bin": {
+    "distance": "1.04 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "clock": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.43 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "3.74 meters",
+    "closeness rank": 8
+   }
+  },
+  "backpack": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "1.19 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.89 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "2.28 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "2.36 meters",
+    "closeness rank": 8
+   }
+  },
+  "clock": {
+   "window": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.19 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "2.36 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.35 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.45 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.04 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.98 meters",
+    "closeness rank": 5
+   },
+   "window": {
+    "distance": "2.03 meters",
+    "closeness rank": 6
+   },
+   "clock": {
+    "distance": "3.35 meters",
+    "closeness rank": 7
+   },
+   "keyboard": {
+    "distance": "3.43 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.76 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.28 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "3.74 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "4.27 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "4.45 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "0.03 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "0.82 meters",
+    "closeness rank": 7
+   },
+   "clock": {
+    "distance": "1.19 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["table", "monitor", "keyboard", "chair", "backpack", "trash bin", "door", "window", "clock"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0658_00.json b/data/spatial codes/ground truth/explicit/scene0658_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e575f9d53dc71cfac54ca410c590d4e565a26305
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0658_00.json	
@@ -0,0 +1,276 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "2.38 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "-0.55 meters",
+      "height above floor": "1.38 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.51 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.03 meters",
+    "closeness rank": 4
+   },
+   "lamp": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.31 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "window": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "lamp": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.15 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.85 meters",
+    "closeness rank": 5
+   }
+  },
+  "lamp": {
+   "window": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash bin": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.85 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "lamp": {
+    "distance": "0.26 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "window", "lamp", "trash bin", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0663_00.json b/data/spatial codes/ground truth/explicit/scene0663_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae817e20752af942fb0d21eccb418ef7d331d7ef
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0663_00.json	
@@ -0,0 +1,569 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "1.95 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-0.99 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "-1.07 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "-0.94 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-0.63 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.01 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.31 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.02 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.95 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.88 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.06 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.16 meters",
+      "y coordinate": "-1.11 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "-0.05 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.2 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.21 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.24 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.33 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.51 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "0.63 meters",
+    "closeness rank": 8
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.52 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.63 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.88 meters",
+    "closeness rank": 4
+   },
+   "backpack": {
+    "distance": "2.09 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "2.29 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "3.02 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "window": {
+    "distance": "0.52 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "trash bin": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "trash bin": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.88 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   }
+  },
+  "backpack": {
+   "telephone": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.75 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.09 meters",
+    "closeness rank": 8
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "backpack": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.14 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.21 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.35 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "2.29 meters",
+    "closeness rank": 8
+   }
+  },
+  "trash bin": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "backpack": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.21 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.35 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "0.75 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "1.01 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "3.02 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "trash bin": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.39 meters",
+    "closeness rank": 5
+   },
+   "backpack": {
+    "distance": "1.5 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "window": {
+    "distance": "4.25 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 5
+   },
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 6
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 7
+   },
+   "backpack": {
+    "distance": "0.13 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "monitor", "keyboard", "backpack", "telephone", "trash bin", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0664_02.json b/data/spatial codes/ground truth/explicit/scene0664_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..7801e087b7895d82e247be3f9045918338d97d56
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0664_02.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "counter": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.09 meters",
+      "y coordinate": "0.16 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "towel": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.77 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "mirror": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "trash bin": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-0.66 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.24 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "counter": {
+   "mirror": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.41 meters",
+    "closeness rank": 4
+   }
+  },
+  "towel": {
+   "door": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "counter": {
+    "distance": "1.41 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "1.54 meters",
+    "closeness rank": 3
+   },
+   "mirror": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "mirror": {
+   "counter": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "trash bin": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.98 meters",
+    "closeness rank": 4
+   }
+  },
+  "trash bin": {
+   "counter": {
+    "distance": "0.33 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.98 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.45 meters",
+    "closeness rank": 3
+   },
+   "towel": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "counter": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "mirror": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "towel": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "trash bin": {
+    "distance": "1.45 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["counter", "towel", "mirror", "trash bin", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0665_00.json b/data/spatial codes/ground truth/explicit/scene0665_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9cecf863da7ed877223dae6378c54f3eb15a9db
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0665_00.json	
@@ -0,0 +1,335 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 18,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.47 meters",
+      "y coordinate": "-0.96 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.26 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.93 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.66 meters",
+      "y coordinate": "-2.15 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.53 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.14 meters",
+      "y coordinate": "-2.24 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.06 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.3 meters",
+      "y coordinate": "2.46 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.89 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.89 meters",
+      "y coordinate": "-1.96 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "-1.18 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.6 meters",
+      "y coordinate": "-3.58 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.02 meters",
+      "y coordinate": "-2.2 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.46 meters",
+      "y coordinate": "4.06 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.1 meters",
+      "y coordinate": "3.45 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.64 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "1.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.26 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.11 meters",
+      "y coordinate": "1.22 meters",
+      "height above floor": "1.16 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "46.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.68 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0671_01.json b/data/spatial codes/ground truth/explicit/scene0671_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..fffb53f0dcc6681b228d22e040b3bbc841699ae1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0671_01.json	
@@ -0,0 +1,261 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.62 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.02 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.53 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "0.41 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "-0.16 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "backpack": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "-0.8 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.05 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.64 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "2.17 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.22 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "pillow": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   }
+  },
+  "plant": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.35 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.39 meters",
+    "closeness rank": 3
+   },
+   "backpack": {
+    "distance": "0.57 meters",
+    "closeness rank": 4
+   }
+  },
+  "backpack": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.92 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "backpack": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "pillow", "plant", "backpack", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0684_01.json b/data/spatial codes/ground truth/explicit/scene0684_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b39d7c33e0d62f9b3f2fdce6c7641ed4cf8c09
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0684_01.json	
@@ -0,0 +1,229 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "window": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "0.58 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.62 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.29 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.25 meters",
+      "y coordinate": "-1.19 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.63 meters",
+    "closeness rank": 4
+   }
+  },
+  "window": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.8 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   }
+  },
+  "telephone": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "1.24 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.63 meters",
+    "closeness rank": 2
+   },
+   "window": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "2.44 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "window": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.05 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.24 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["chair", "window", "telephone", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/scene0685_00.json b/data/spatial codes/ground truth/explicit/scene0685_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a1bd54b995beeff2cb1800a61f3b5e7d7f9c2bb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/scene0685_00.json	
@@ -0,0 +1,151 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": {
+    "count": {
+     "unit": null,
+     "description": "number of instances of this class in the compact spatial code (that schema's per-class oriented-box list length)"
+    },
+    "instances": [
+     {
+      "position": {
+       "x coordinate": {
+        "unit": "meters",
+        "description": "x coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "y coordinate": {
+        "unit": "meters",
+        "description": "y coordinate of this instance's compact 3D oriented bounding box center"
+       },
+       "height above floor": {
+        "unit": "meters",
+        "description": "height coordinate of this instance's compact 3D oriented bounding box center"
+       }
+      },
+      "longest dimension": {
+       "unit": "meters",
+       "description": "longest of this instance's compact 3D oriented bounding box dimensions"
+      }
+     }
+    ]
+   }
+  },
+  "room": {
+   "floor area": {
+    "unit": "square meters",
+    "description": "shoelace area of the compact spatial code's floor boundary polygons, with every interior hole subtracted"
+   }
+  },
+  "closest classes distance meters from": {
+   "<object class>": {
+    "<other object class>": {
+     "distance": {
+      "unit": "meters",
+      "description": "minimum surface-to-surface separation between the two classes' compact 3D oriented bounding boxes, over every instance pair"
+     },
+     "closeness rank": {
+      "unit": null,
+      "description": "1 = the nearest other class to this one, 2 = second-nearest, and so on"
+     }
+    }
+   }
+  },
+  "appearance order": {
+   "unit": null,
+   "description": "class names ordered by earliest compact 'first visible time' across all of that class's instances"
+  }
+ },
+ "objects": {
+  "trash bin": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.38 meters",
+      "y coordinate": "-0.67 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.47 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-0.87 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash bin": {
+   "door": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "trash bin": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "trash bin": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["trash bin", "door", "table"]
+}
\ No newline at end of file