diff --git a/data/spatial codes/ground truth/compact/f3d64c30f8.json b/data/spatial codes/ground truth/compact/f3d64c30f8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bd3165a8c56b15e249ab6a0d858803d88b94c2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/f3d64c30f8.json	
@@ -0,0 +1,1782 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
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+      4.35,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      1.31,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       0.01,
+       0.06
+      ],
+      [
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+       0.18,
+       0.98
+      ],
+      [
+       0.0,
+       -0.98,
+       0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.77,
+      4.34,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.78,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.16,
+       0.96
+      ],
+      [
+       -0.98,
+       -0.08,
+       -0.21
+      ],
+      [
+       0.04,
+       -0.98,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.54,
+      4.54,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      0.24,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.19,
+       0.94
+      ],
+      [
+       -0.96,
+       -0.01,
+       0.28
+      ],
+      [
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+       -0.98,
+       0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.47,
+      1.73,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      1.01,
+      2.11,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      4.65,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      1.02,
+      2.09,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.02,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.56,
+      4.29,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.8,
+      0.83,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.13,
+      2.57,
+      2.66
+     ],
+     "3D oriented bounding box dimensions": [
+      3.08,
+      0.21,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.04,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      2.36,
+      2.7
+     ],
+     "3D oriented bounding box dimensions": [
+      3.08,
+      0.24,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -1.0,
+       -0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "power strip": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.27,
+      3.01,
+      0.1
+     ],
+     "3D oriented bounding box dimensions": [
+      0.33,
+      0.07,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.1,
+       0.99,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.1,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "heater": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.16,
+      1.91,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      0.51,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       1.0,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash can": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.43,
+      1.65,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.36,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.58,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.58,
+       -0.82,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.44,
+      1.97,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.94,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.94,
+       -0.33,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.34,
+      2.24,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       0.18,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.18,
+       -0.98,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.81,
+      4.66,
+      1.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.3,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.07,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "whiteboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.41,
+      4.55,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      1.22,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.05,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.05,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.69,
+      4.17,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.38,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.35,
+       -0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "cup": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.78,
+      4.19,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.1,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.93,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.93,
+       -0.38,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bucket": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.06,
+      4.38,
+      0.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.23,
+      0.19,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.03,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "bowl": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.37,
+      4.18,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.13,
+      0.06,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.94,
+       0.35,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.35,
+       -0.94,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.36,
+      4.22,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.17,
+      0.16,
+      0.05
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.23,
+       -0.05
+      ],
+      [
+       0.24,
+       0.96,
+       0.14
+      ],
+      [
+       0.01,
+       -0.14,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      2.38,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.19,
+      0.14,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.69,
+       -0.65,
+       0.33
+      ],
+      [
+       -0.64,
+       -0.32,
+       0.7
+      ],
+      [
+       -0.35,
+       -0.69,
+       -0.63
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      0.4,
+      0.04
+     ],
+     [
+      5.2,
+      0.04
+     ],
+     [
+      5.2,
+      4.84
+     ],
+     [
+      0.4,
+      4.84
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/fb5a96b1a2.json b/data/spatial codes/ground truth/compact/fb5a96b1a2.json
new file mode 100644
index 0000000000000000000000000000000000000000..a47f405310e7917b53c2c6494849d7ea6ca266a1
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/fb5a96b1a2.json	
@@ -0,0 +1,1450 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "ceiling light": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      5.09,
+      1.55,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.27,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       -0.3,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.3,
+       0.95,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.15,
+      1.05,
+      2.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.21,
+      0.25,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.31,
+       0.95,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.95,
+       -0.31,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.75,
+      2.47,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.26,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.96,
+       0.29,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.29,
+       0.96,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.37,
+      1.3,
+      2.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.26,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.86,
+       0.52,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.52,
+       0.86,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.84,
+      3.33,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.26,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.8,
+       -0.59,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.59,
+       0.8,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.97,
+      4.98,
+      2.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.24,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       -0.51,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       -0.51,
+       -0.86,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      3.61,
+      5.8,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.27,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.91,
+       0.41,
+       0.0
+      ],
+      [
+       0.0,
+       0.0,
+       1.0
+      ],
+      [
+       0.41,
+       -0.91,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      4.23,
+      4.0,
+      2.62
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.22,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       -0.32,
+       -0.36
+      ],
+      [
+       0.41,
+       -0.11,
+       -0.91
+      ],
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+      1.05,
+      0.49
+     ],
+     [
+      6.93,
+      0.49
+     ],
+     [
+      6.93,
+      6.37
+     ],
+     [
+      1.05,
+      6.37
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0086_02.json b/data/spatial codes/ground truth/compact/scene0086_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..61770e482228c1a66f544fd405e7f4455a8f0d8d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0086_02.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      2.3,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      1.56,
+      0.7
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.5,
+       0.02
+      ],
+      [
+       0.01,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.5,
+       -0.86,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
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+      -1.68,
+      1.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.36,
+       0.43
+      ],
+      [
+       0.45,
+       0.04,
+       0.89
+      ],
+      [
+       -0.34,
+       0.93,
+       0.13
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.96,
+      1.37
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.76,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.1,
+       -0.99
+      ],
+      [
+       0.2,
+       -0.98,
+       -0.07
+      ],
+      [
+       -0.97,
+       -0.18,
+       -0.13
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.98,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.01,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.6,
+       0.06
+      ],
+      [
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+       0.09,
+       -0.98
+      ],
+      [
+       0.58,
+       -0.79,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.18,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.64,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.81,
+       0.59,
+       -0.01
+      ],
+      [
+       0.06,
+       -0.06,
+       1.0
+      ],
+      [
+       0.59,
+       -0.81,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.4,
+      0.99,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      1.4,
+      0.89,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.84,
+       -0.54,
+       0.02
+      ],
+      [
+       -0.54,
+       0.84,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.06,
+      0.12,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      1.5,
+      0.02
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.81,
+       0.58,
+       0.02
+      ],
+      [
+       0.03,
+       0.0,
+       1.0
+      ],
+      [
+       0.58,
+       0.81,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.96,
+      -1.99
+     ],
+     [
+      1.8,
+      -1.99
+     ],
+     [
+      1.8,
+      1.77
+     ],
+     [
+      -1.96,
+      1.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0231_00.json b/data/spatial codes/ground truth/compact/scene0231_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac6fc084b4ebc1b94abc5402f2076f2bb45edc3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0231_00.json	
@@ -0,0 +1,914 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.84,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.18,
+      0.61
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.59,
+       0.01
+      ],
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+       0.21,
+       -0.97
+      ],
+      [
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+       0.78,
+       0.25
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.66,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.51,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.08,
+       -0.99
+      ],
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+       -0.76,
+       0.14
+      ],
+      [
+       -0.77,
+       0.64,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
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+      0.23,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       0.01,
+       -1.0
+      ],
+      [
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+       -0.82,
+       0.04
+      ],
+      [
+       -0.82,
+       0.57,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.38,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.54,
+      0.55
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       0.14,
+       0.97
+      ],
+      [
+       0.79,
+       0.56,
+       -0.25
+      ],
+      [
+       -0.57,
+       0.82,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.15,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.93,
+      1.3,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.41,
+       -0.91,
+       0.03
+      ],
+      [
+       0.67,
+       0.28,
+       -0.69
+      ],
+      [
+       0.62,
+       0.3,
+       0.72
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.49,
+      0.44,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.85,
+      0.91
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.05,
+       -0.99
+      ],
+      [
+       -0.94,
+       -0.33,
+       0.1
+      ],
+      [
+       -0.32,
+       0.94,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.54,
+      -1.65,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.95,
+      0.92
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.39,
+       -0.07
+      ],
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+       -0.92,
+       -0.06
+      ],
+      [
+       -0.09,
+       0.03,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.06,
+      1.89
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.15,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.03,
+       1.0
+      ],
+      [
+       0.89,
+       0.46,
+       0.02
+      ],
+      [
+       -0.46,
+       0.89,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.89,
+      1.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.27,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.42,
+       -0.1
+      ],
+      [
+       -0.1,
+       -0.03,
+       0.99
+      ],
+      [
+       -0.42,
+       0.91,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.46,
+      1.71
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.27,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.43,
+       -0.09
+      ],
+      [
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+       -0.03,
+       -1.0
+      ],
+      [
+       -0.43,
+       0.9,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.81,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
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+      5.42,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.32,
+       0.04
+      ],
+      [
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+       0.95,
+       0.01
+      ],
+      [
+       -0.04,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.47,
+      2.48,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.73,
+      1.01,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       -0.03,
+       -1.0
+      ],
+      [
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+       -0.45,
+       -0.04
+      ],
+      [
+       -0.45,
+       0.89,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.99,
+      -1.37,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       -0.13
+      ],
+      [
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+       -0.21,
+       -0.54
+      ],
+      [
+       -0.55,
+       0.02,
+       0.83
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.45,
+      -1.31,
+      0.22
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.18,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.95,
+       0.04
+      ],
+      [
+       0.95,
+       -0.3,
+       0.07
+      ],
+      [
+       0.08,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.89,
+      0.7,
+      1.15
+     ],
+     "3D oriented bounding box dimensions": [
+      0.24,
+      0.26,
+      1.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.95,
+       -0.06
+      ],
+      [
+       0.95,
+       0.31,
+       -0.06
+      ],
+      [
+       0.07,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "plant": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.8,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.92,
+       -0.38
+      ],
+      [
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+       -0.26,
+       -0.7
+      ],
+      [
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+       0.28,
+       0.6
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.24,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.36
+      ],
+      [
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+       0.92,
+       0.33
+      ],
+      [
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+       -0.39,
+       0.87
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      3.12,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.45,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.86,
+       0.51,
+       0.02
+      ],
+      [
+       -0.09,
+       0.1,
+       0.99
+      ],
+      [
+       0.5,
+       -0.86,
+       0.13
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "clock": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.19,
+      1.29,
+      1.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.26,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       -0.28,
+       0.82
+      ],
+      [
+       -0.74,
+       -0.36,
+       -0.57
+      ],
+      [
+       0.45,
+       -0.89,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.82,
+      0.36,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.24,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.09,
+       -0.96
+      ],
+      [
+       0.29,
+       0.94,
+       -0.17
+      ],
+      [
+       0.92,
+       -0.32,
+       -0.22
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      0.89,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.23,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.42,
+       0.53
+      ],
+      [
+       0.58,
+       0.0,
+       -0.81
+      ],
+      [
+       -0.34,
+       0.91,
+       -0.25
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.0,
+      2.1,
+      1.04
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.08,
+      1.65
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.38,
+       -0.92,
+       -0.06
+      ],
+      [
+       -0.92,
+       -0.38,
+       -0.05
+      ],
+      [
+       0.02,
+       0.07,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.13,
+      1.41,
+      0.7
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      1.69,
+      0.82
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       0.08,
+       -0.99
+      ],
+      [
+       0.92,
+       0.4,
+       -0.04
+      ],
+      [
+       0.39,
+       -0.91,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.57,
+      -1.92,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.56,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.91,
+       0.4,
+       0.12
+      ],
+      [
+       -0.26,
+       -0.3,
+       -0.92
+      ],
+      [
+       -0.33,
+       -0.86,
+       0.38
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.19,
+      -2.86
+     ],
+     [
+      3.09,
+      -2.86
+     ],
+     [
+      3.09,
+      3.41
+     ],
+     [
+      -3.19,
+      3.41
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0246_00.json b/data/spatial codes/ground truth/compact/scene0246_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a3a9cf273b684a414f1bf752e647c942debfd2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0246_00.json	
@@ -0,0 +1,614 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.07,
+      0.81,
+      0.62
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      0.77,
+      2.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.13,
+       0.99,
+       0.03
+      ],
+      [
+       -0.19,
+       0.0,
+       -0.98
+      ],
+      [
+       -0.97,
+       -0.13,
+       0.19
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.83,
+      -1.51,
+      0.74
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.96,
+      0.67
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.79,
+       0.62,
+       0.0
+      ],
+      [
+       -0.06,
+       0.06,
+       -1.0
+      ],
+      [
+       -0.62,
+       0.78,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.64,
+      0.97,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.54,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       0.07,
+       -0.45
+      ],
+      [
+       -0.04,
+       1.0,
+       0.07
+      ],
+      [
+       0.46,
+       -0.05,
+       0.89
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      0.96,
+      0.82
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.49,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       0.08,
+       -0.67
+      ],
+      [
+       -0.09,
+       1.0,
+       0.03
+      ],
+      [
+       0.67,
+       0.04,
+       0.74
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.3,
+      0.98,
+      0.85
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      0.27,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.45,
+       0.89,
+       -0.05
+      ],
+      [
+       -0.75,
+       -0.42,
+       -0.52
+      ],
+      [
+       -0.48,
+       -0.19,
+       0.85
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.15,
+      0.96,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.27,
+      0.75,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.3,
+       0.01,
+       -0.96
+      ],
+      [
+       0.2,
+       -0.98,
+       0.05
+      ],
+      [
+       -0.93,
+       -0.21,
+       -0.29
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.3,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.56,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       0.01
+      ],
+      [
+       -0.94,
+       -0.1,
+       0.34
+      ],
+      [
+       -0.33,
+       -0.05,
+       -0.94
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      0.03,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.16,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.92,
+       -0.11,
+       0.38
+      ],
+      [
+       -0.22,
+       -0.66,
+       -0.72
+      ],
+      [
+       0.33,
+       -0.74,
+       0.58
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.31,
+      -1.47,
+      1.22
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      0.35,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       -0.14,
+       0.06
+      ],
+      [
+       0.14,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.04,
+      1.5,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.45,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.67,
+       0.7,
+       0.25
+      ],
+      [
+       0.29,
+       0.06,
+       -0.96
+      ],
+      [
+       -0.68,
+       0.71,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.06,
+      0.3,
+      0.89
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.73,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -0.02,
+       1.0
+      ],
+      [
+       0.23,
+       -0.97,
+       -0.04
+      ],
+      [
+       0.97,
+       0.23,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      1.48,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.68,
+      0.52
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.98,
+       -0.05
+      ],
+      [
+       0.06,
+       0.07,
+       -1.0
+      ],
+      [
+       0.98,
+       0.19,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.23,
+      -0.38,
+      1.69
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.73,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       0.04,
+       1.0
+      ],
+      [
+       0.19,
+       -0.98,
+       0.04
+      ],
+      [
+       0.98,
+       0.19,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      -1.54,
+      1.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.77,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.22,
+       0.96,
+       -0.18
+      ],
+      [
+       0.11,
+       0.21,
+       0.97
+      ],
+      [
+       0.97,
+       0.19,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.84,
+      -1.51,
+      0.61
+     ],
+     "3D oriented bounding box dimensions": [
+      0.79,
+      1.3,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.04,
+       1.0
+      ],
+      [
+       0.2,
+       -0.98,
+       0.04
+      ],
+      [
+       0.98,
+       0.2,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.86,
+      -1.54
+     ],
+     [
+      2.31,
+      -1.54
+     ],
+     [
+      2.31,
+      2.64
+     ],
+     [
+      -1.86,
+      2.64
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0251_00.json b/data/spatial codes/ground truth/compact/scene0251_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..f334556c8da0759925bc0b1bedc1a15c35339b60
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0251_00.json	
@@ -0,0 +1,608 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.67,
+      -0.11,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.62,
+      0.88,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.48,
+       0.88,
+       0.0
+      ],
+      [
+       0.16,
+       0.09,
+       0.98
+      ],
+      [
+       0.86,
+       0.47,
+       -0.18
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.4,
+      -1.49,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.87,
+      0.6
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.4,
+       0.91,
+       0.06
+      ],
+      [
+       -0.18,
+       -0.02,
+       -0.98
+      ],
+      [
+       -0.9,
+       -0.4,
+       0.17
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.77,
+      0.99,
+      1.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.11,
+      0.38,
+      0.22
+     ],
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+    "first visible time": null
+   },
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+      2.2,
+      1.33
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.38,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.61,
+       0.18
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+      [
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+       -0.11,
+       -0.98
+      ],
+      [
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+       -0.79,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
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+      -1.57,
+      1.28
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.64,
+       -0.14
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+       -0.05
+      ],
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+       0.13,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
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+  "trash bin": [
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+     "3D oriented bounding box center coordinates": [
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+      -0.75,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.83,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.56,
+       0.06
+      ],
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+       0.0,
+       -1.0
+      ],
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+       -0.83,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.69,
+      1.03
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.44,
+      0.73
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       -0.05
+      ],
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+       0.18,
+       0.08
+      ],
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+       0.09,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.54,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.82,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.59,
+       0.81,
+       -0.01
+      ],
+      [
+       -0.06,
+       -0.05,
+       -1.0
+      ],
+      [
+       -0.81,
+       -0.59,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -2.07,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.03,
+       -0.99
+      ],
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+       -0.81,
+       0.06
+      ],
+      [
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+       -0.59,
+       -0.14
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -2.99,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.75,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.78,
+       0.02
+      ],
+      [
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+       -0.04,
+       -1.0
+      ],
+      [
+       -0.78,
+       -0.62,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
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+      0.23,
+      1.25
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.61,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.08,
+       -0.99
+      ],
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+       0.99,
+       0.08
+      ],
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+       -0.13,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.54,
+      -4.34,
+      1.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.97,
+      1.27,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.85,
+       -0.53,
+       0.04
+      ],
+      [
+       0.07,
+       -0.05,
+       1.0
+      ],
+      [
+       -0.52,
+       0.85,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.38,
+      -3.89,
+      1.27
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      1.36,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.78,
+       -0.62,
+       0.01
+      ],
+      [
+       -0.05,
+       0.04,
+       -1.0
+      ],
+      [
+       0.62,
+       -0.78,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.99,
+      1.08,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      3.63,
+      0.69,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.78,
+       -0.62,
+       0.11
+      ],
+      [
+       -0.13,
+       -0.01,
+       -0.99
+      ],
+      [
+       0.61,
+       -0.79,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.22,
+      -0.96,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      1.51,
+      0.72,
+      0.88
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.76,
+       0.64,
+       -0.11
+      ],
+      [
+       0.1,
+       0.05,
+       0.99
+      ],
+      [
+       0.64,
+       -0.77,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -3.09,
+      -3.52
+     ],
+     [
+      2.9,
+      -3.52
+     ],
+     [
+      2.9,
+      2.46
+     ],
+     [
+      -3.09,
+      2.46
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0277_02.json b/data/spatial codes/ground truth/compact/scene0277_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..40e4c1dcece7452ddbf0bdcad95f134a0deefdb9
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0277_02.json	
@@ -0,0 +1,388 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      -0.67,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      2.21,
+      1.06,
+      1.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       0.15,
+       0.99,
+       -0.02
+      ],
+      [
+       0.0,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.68,
+      0.94,
+      0.47
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.18,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.02
+      ],
+      [
+       -0.01,
+       0.99,
+       0.16
+      ],
+      [
+       -0.02,
+       0.16,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.57,
+      0.76,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      1.71,
+      0.96,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.98,
+       0.0
+      ],
+      [
+       0.05,
+       -0.01,
+       1.0
+      ],
+      [
+       0.98,
+       -0.18,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      0.72,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.9,
+      0.23
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       0.0,
+       -1.0
+      ],
+      [
+       -0.3,
+       -0.95,
+       -0.01
+      ],
+      [
+       -0.95,
+       0.3,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.26,
+      0.65,
+      0.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.22,
+      0.33,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       0.98,
+       0.0
+      ],
+      [
+       0.03,
+       0.0,
+       1.0
+      ],
+      [
+       0.98,
+       -0.2,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.32,
+      0.43,
+      0.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.38,
+      0.34,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.2,
+       0.98,
+       0.05
+      ],
+      [
+       0.15,
+       -0.08,
+       0.99
+      ],
+      [
+       0.97,
+       -0.19,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.24,
+      -0.42,
+      1.14
+     ],
+     "3D oriented bounding box dimensions": [
+      1.14,
+      1.07,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.13,
+       -0.99
+      ],
+      [
+       -0.18,
+       -0.97,
+       -0.13
+      ],
+      [
+       -0.98,
+       0.18,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      1.32,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.33,
+      0.72,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.16,
+       0.02
+      ],
+      [
+       -0.16,
+       -0.99,
+       -0.02
+      ],
+      [
+       0.01,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.39,
+      -1.61
+     ],
+     [
+      1.92,
+      -1.61
+     ],
+     [
+      1.92,
+      1.71
+     ],
+     [
+      -1.39,
+      1.71
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0304_00.json b/data/spatial codes/ground truth/compact/scene0304_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..333ea6cd780785d4f065292b040e74b1556ec650
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0304_00.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      -1.48,
+      1.21
+     ],
+     "3D oriented bounding box dimensions": [
+      0.55,
+      0.37,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       -0.8,
+       0.06
+      ],
+      [
+       -0.81,
+       0.59,
+       0.0
+      ],
+      [
+       -0.03,
+       -0.05,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.96,
+      -3.18,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.57,
+      0.95
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.54,
+       -0.84,
+       0.05
+      ],
+      [
+       0.84,
+       -0.54,
+       0.01
+      ],
+      [
+       0.02,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.18,
+      0.94,
+      1.05
+     ],
+     "3D oriented bounding box dimensions": [
+      1.12,
+      2.09,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.43,
+       0.9,
+       0.01
+      ],
+      [
+       0.02,
+       -0.02,
+       1.0
+      ],
+      [
+       0.9,
+       -0.43,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.53,
+      -2.94
+     ],
+     [
+      1.98,
+      -2.94
+     ],
+     [
+      1.98,
+      1.57
+     ],
+     [
+      -2.53,
+      1.57
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0307_02.json b/data/spatial codes/ground truth/compact/scene0307_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..330a51399d1bb6cc8ae216273db22cb0d939c045
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0307_02.json	
@@ -0,0 +1,548 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.34,
+      2.3,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.52,
+      0.9,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.74,
+       -0.67,
+       -0.06
+      ],
+      [
+       0.53,
+       0.53,
+       0.66
+      ],
+      [
+       -0.41,
+       -0.52,
+       0.75
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      -3.48,
+      1.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.58,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.73,
+       -0.68,
+       -0.05
+      ],
+      [
+       0.01,
+       0.08,
+       -1.0
+      ],
+      [
+       0.68,
+       0.73,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.91,
+      3.51,
+      1.81
+     ],
+     "3D oriented bounding box dimensions": [
+      0.76,
+      1.03,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.05,
+       -1.0
+      ],
+      [
+       0.76,
+       0.64,
+       0.02
+      ],
+      [
+       0.64,
+       -0.76,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.4,
+      -2.75,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.64,
+      0.9,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.06,
+       -1.0
+      ],
+      [
+       -0.57,
+       0.82,
+       0.07
+      ],
+      [
+       0.82,
+       0.57,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.25,
+      -1.84,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      1.6,
+      1.04,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.05,
+       -1.0
+      ],
+      [
+       -0.1,
+       -0.99,
+       -0.05
+      ],
+      [
+       -0.99,
+       0.1,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "washing machine": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.03,
+      2.7,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.81,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       0.04,
+       1.0
+      ],
+      [
+       0.95,
+       0.32,
+       0.0
+      ],
+      [
+       -0.32,
+       0.95,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -3.37,
+      0.99,
+      0.75
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      1.14,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.03,
+       1.0
+      ],
+      [
+       0.59,
+       -0.8,
+       0.06
+      ],
+      [
+       0.8,
+       0.6,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.76,
+      0.64,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      3.79,
+      0.73,
+      2.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.8,
+       0.6,
+       -0.02
+      ],
+      [
+       -0.6,
+       0.8,
+       -0.05
+      ],
+      [
+       -0.01,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.51,
+      2.68,
+      1.06
+     ],
+     "3D oriented bounding box dimensions": [
+      1.96,
+      0.88,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.03,
+       0.0,
+       -1.0
+      ],
+      [
+       0.91,
+       0.42,
+       -0.02
+      ],
+      [
+       0.42,
+       -0.91,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.03,
+      0.91,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      1.16,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.05,
+       -0.05,
+       -1.0
+      ],
+      [
+       -0.54,
+       0.84,
+       -0.07
+      ],
+      [
+       0.84,
+       0.54,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.74,
+      2.69,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
+      1.89,
+      0.97,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.14,
+       -0.98
+      ],
+      [
+       0.74,
+       0.63,
+       0.21
+      ],
+      [
+       0.65,
+       -0.76,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.88,
+      -1.06,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      2.02,
+      0.94,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -0.04,
+       1.0
+      ],
+      [
+       0.64,
+       0.77,
+       0.01
+      ],
+      [
+       -0.77,
+       0.64,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.61,
+      0.84,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.15,
+      0.44,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.7,
+       -0.71,
+       -0.1
+      ],
+      [
+       0.6,
+       0.5,
+       0.63
+      ],
+      [
+       -0.39,
+       -0.5,
+       0.77
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.8,
+      -2.71
+     ],
+     [
+      2.62,
+      -2.71
+     ],
+     [
+      2.62,
+      2.72
+     ],
+     [
+      -2.8,
+      2.72
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0328_00.json b/data/spatial codes/ground truth/compact/scene0328_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0ba99994f02f129e45e38a7e902fbe67204ea1
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0328_00.json	
@@ -0,0 +1,288 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.34,
+      1.27,
+      1.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.34,
+      1.05,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.11,
+       -0.01,
+       -0.99
+      ],
+      [
+       0.72,
+       0.69,
+       -0.09
+      ],
+      [
+       0.69,
+       -0.72,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      0.04,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      2.55,
+      4.48,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.15,
+       0.0
+      ],
+      [
+       -0.15,
+       -0.99,
+       0.01
+      ],
+      [
+       0.01,
+       0.01,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.26,
+      -0.15,
+      0.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.83,
+      1.72,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.62,
+       -0.79,
+       0.04
+      ],
+      [
+       0.04,
+       -0.08,
+       -1.0
+      ],
+      [
+       0.79,
+       -0.61,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "microwave": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.76,
+      -1.21,
+      1.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.78,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.12,
+       -0.24,
+       -0.96
+      ],
+      [
+       0.7,
+       -0.71,
+       0.09
+      ],
+      [
+       -0.71,
+       -0.66,
+       0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "oven": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.65,
+      -1.2,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      1.13,
+      0.58
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.71,
+       -0.7,
+       0.0
+      ],
+      [
+       -0.32,
+       -0.33,
+       0.89
+      ],
+      [
+       -0.62,
+       -0.63,
+       -0.46
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.49,
+      -1.44
+     ],
+     [
+      1.74,
+      -1.44
+     ],
+     [
+      1.74,
+      1.79
+     ],
+     [
+      -1.49,
+      1.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0338_00.json b/data/spatial codes/ground truth/compact/scene0338_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce62a89fb48da9033a121e02460929d766de3a2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0338_00.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.93,
+      -1.0,
+      0.93
+     ],
+     "3D oriented bounding box dimensions": [
+      3.43,
+      0.68,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.83,
+       -0.56,
+       0.0
+      ],
+      [
+       -0.54,
+       0.8,
+       -0.24
+      ],
+      [
+       0.14,
+       -0.2,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.7,
+      1.89,
+      0.49
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.93,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.61,
+       0.79,
+       0.07
+      ],
+      [
+       -0.05,
+       0.05,
+       -1.0
+      ],
+      [
+       -0.79,
+       -0.61,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.94,
+      0.34,
+      0.38
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.66,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       0.82,
+       -0.03
+      ],
+      [
+       -0.06,
+       -0.01,
+       1.0
+      ],
+      [
+       0.82,
+       0.57,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.48,
+      1.26,
+      0.77
+     ],
+     "3D oriented bounding box dimensions": [
+      1.44,
+      1.05,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.05,
+       -1.0
+      ],
+      [
+       -0.57,
+       0.82,
+       -0.05
+      ],
+      [
+       0.82,
+       0.57,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.7,
+      -1.79
+     ],
+     [
+      1.87,
+      -1.79
+     ],
+     [
+      1.87,
+      1.79
+     ],
+     [
+      -1.7,
+      1.79
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0353_00.json b/data/spatial codes/ground truth/compact/scene0353_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..226c18608aa8a6c8c00fa20492310bef783d7634
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0353_00.json	
@@ -0,0 +1,750 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.69,
+      -0.23,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      2.29,
+      1.16,
+      1.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.88,
+       0.47,
+       0.07
+      ],
+      [
+       0.47,
+       0.88,
+       0.06
+      ],
+      [
+       -0.03,
+       0.09,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.13,
+      0.84,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.71,
+      0.96,
+      0.59
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.89,
+       -0.46,
+       -0.03
+      ],
+      [
+       0.02,
+       -0.08,
+       1.0
+      ],
+      [
+       -0.46,
+       0.88,
+       0.08
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.93,
+      0.61,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.68,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.26,
+       -0.96,
+       -0.13
+      ],
+      [
+       -0.96,
+       -0.27,
+       0.06
+      ],
+      [
+       -0.1,
+       0.11,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.63,
+      -1.04,
+      0.44
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.78,
+      0.56
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.82,
+       -0.57,
+       -0.06
+      ],
+      [
+       0.13,
+       0.09,
+       0.99
+      ],
+      [
+       -0.55,
+       -0.82,
+       0.15
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.55,
+      -1.43,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
+      2.15,
+      1.3,
+      0.54
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.44,
+       -0.02
+      ],
+      [
+       -0.35,
+       -0.74,
+       0.57
+      ],
+      [
+       -0.27,
+       -0.5,
+       -0.82
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.26,
+      1.25,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      1.24,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       -0.36,
+       -0.93
+      ],
+      [
+       0.48,
+       0.82,
+       -0.32
+      ],
+      [
+       0.88,
+       -0.45,
+       0.16
+      ]
+     ]
+    },
+    "first visible time": 9.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.93,
+      -1.95,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      1.18,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       -0.03
+      ],
+      [
+       0.04,
+       0.02,
+       1.0
+      ],
+      [
+       0.88,
+       -0.47,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "refrigerator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.18,
+      0.44,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.5,
+      0.9,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.9,
+       0.44,
+       0.05
+      ],
+      [
+       -0.04,
+       0.03,
+       -1.0
+      ],
+      [
+       -0.44,
+       -0.9,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 10.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      -1.28,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.2,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.81,
+       -0.59,
+       0.0
+      ],
+      [
+       -0.03,
+       -0.04,
+       -1.0
+      ],
+      [
+       0.59,
+       0.81,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      -1.64,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.42,
+      0.2,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.87,
+       -0.47,
+       0.12
+      ],
+      [
+       0.12,
+       -0.03,
+       -0.99
+      ],
+      [
+       0.47,
+       0.88,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.55,
+      1.53,
+      1.86
+     ],
+     "3D oriented bounding box dimensions": [
+      0.29,
+      0.14,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.39,
+       0.77,
+       0.5
+      ],
+      [
+       -0.9,
+       -0.2,
+       -0.39
+      ],
+      [
+       -0.2,
+       -0.61,
+       0.77
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -2.36,
+      0.24,
+      1.96
+     ],
+     "3D oriented bounding box dimensions": [
+      0.46,
+      0.14,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.31,
+       -0.95,
+       0.01
+      ],
+      [
+       -0.09,
+       0.02,
+       -1.0
+      ],
+      [
+       0.95,
+       -0.31,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.16,
+      1.04,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.78,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.11,
+       -0.99,
+       -0.03
+      ],
+      [
+       -0.99,
+       -0.11,
+       0.03
+      ],
+      [
+       -0.03,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.42,
+      -0.1,
+      0.35
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.56,
+      0.21
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.25,
+       -0.51,
+       0.82
+      ],
+      [
+       0.97,
+       -0.14,
+       0.21
+      ],
+      [
+       0.01,
+       0.85,
+       0.52
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.89,
+      0.24,
+      0.92
+     ],
+     "3D oriented bounding box dimensions": [
+      0.05,
+      0.27,
+      0.01
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.42,
+       0.9,
+       0.09
+      ],
+      [
+       -0.91,
+       -0.42,
+       -0.05
+      ],
+      [
+       -0.01,
+       -0.1,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 11.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.21,
+      -1.4,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
+      0.49,
+      0.28,
+      0.46
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       -0.12,
+       -0.99
+      ],
+      [
+       0.87,
+       -0.47,
+       0.15
+      ],
+      [
+       -0.49,
+       -0.87,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.02,
+      -0.43,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      0.24,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.04,
+       -1.0
+      ],
+      [
+       0.75,
+       0.66,
+       0.03
+      ],
+      [
+       0.66,
+       -0.75,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.83,
+      1.56,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      2.13,
+      1.26,
+      0.62
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.44,
+       -0.1
+      ],
+      [
+       -0.42,
+       -0.72,
+       -0.56
+      ],
+      [
+       0.17,
+       0.54,
+       -0.82
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.72,
+      -0.29,
+      0.95
+     ],
+     "3D oriented bounding box dimensions": [
+      2.1,
+      1.09,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.89,
+       -0.46,
+       -0.06
+      ],
+      [
+       -0.46,
+       -0.89,
+       0.09
+      ],
+      [
+       -0.09,
+       -0.05,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.88,
+      -2.06
+     ],
+     [
+      2.21,
+      -2.06
+     ],
+     [
+      2.21,
+      2.03
+     ],
+     [
+      -1.88,
+      2.03
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0354_00.json b/data/spatial codes/ground truth/compact/scene0354_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a20dc53842820f50aa52bc5280fdec8801be2fd
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0354_00.json	
@@ -0,0 +1,546 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.04,
+      -0.29,
+      0.67
+     ],
+     "3D oriented bounding box dimensions": [
+      0.6,
+      0.72,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.14,
+       0.99,
+       -0.06
+      ],
+      [
+       0.54,
+       -0.12,
+       -0.83
+      ],
+      [
+       -0.83,
+       0.08,
+       -0.55
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.41,
+      -0.71,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.75,
+      0.64,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.18,
+       0.75,
+       -0.64
+      ],
+      [
+       -0.97,
+       0.22,
+       -0.01
+      ],
+      [
+       0.13,
+       0.63,
+       0.77
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.37,
+      -0.92,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      0.74,
+      0.6,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.73,
+       -0.68
+      ],
+      [
+       -0.99,
+       0.07,
+       0.07
+      ],
+      [
+       0.1,
+       0.68,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.02,
+      0.64,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.72,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.2,
+       0.98,
+       0.02
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+       0.13,
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+    "first visible time": null
+   },
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+    "3D oriented bounding box": {
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+      -0.15,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.57,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       -0.74
+      ],
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+       -1.0,
+       0.01
+      ],
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+       0.03,
+       0.67
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.41,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.72,
+      0.38
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       -0.04
+      ],
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+       0.7
+      ],
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+       0.09,
+       0.71
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      1.04,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.09,
+      0.41
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       -0.06
+      ],
+      [
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+       -0.75,
+       -0.65
+      ],
+      [
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+       0.66,
+       -0.75
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      1.13,
+      0.66
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.07,
+       0.04
+      ],
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+       0.7
+      ],
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+       -0.7,
+       0.71
+      ]
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+    "first visible time": null
+   }
+  ],
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+      1.67,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.39,
+      2.8
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       -0.04,
+       1.0
+      ],
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+       0.06,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       0.06,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -1.49,
+      1.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.28,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+      ],
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+       0.05,
+       -0.12
+      ],
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+       1.0,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
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+    "3D oriented bounding box": {
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+      1.43,
+      0.31
+     ],
+     "3D oriented bounding box dimensions": [
+      0.31,
+      0.33,
+      0.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.49,
+       0.87,
+       -0.01
+      ],
+      [
+       0.11,
+       0.05,
+       -0.99
+      ],
+      [
+       -0.86,
+       -0.49,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.67,
+      1.29,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      1.34,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.32,
+       -0.95,
+       0.04
+      ],
+      [
+       -0.07,
+       -0.02,
+       -1.0
+      ],
+      [
+       0.94,
+       -0.32,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.07,
+      0.19,
+      0.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      1.56,
+      0.75
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.03,
+       0.0
+      ],
+      [
+       -0.03,
+       1.0,
+       0.02
+      ],
+      [
+       0.0,
+       -0.02,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.94,
+      -1.42
+     ],
+     [
+      1.87,
+      -1.42
+     ],
+     [
+      1.87,
+      2.38
+     ],
+     [
+      -1.94,
+      2.38
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0356_00.json b/data/spatial codes/ground truth/compact/scene0356_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7340c99648d857d88dddcc7e35976e558026b7f
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0356_00.json	
@@ -0,0 +1,486 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.69,
+      1.2,
+      0.55
+     ],
+     "3D oriented bounding box dimensions": [
+      0.95,
+      2.34,
+      1.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.0,
+       -1.0
+      ],
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+       0.09,
+       0.0
+      ],
+      [
+       0.09,
+       -1.0,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.3,
+      0.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.89,
+      0.45,
+      0.64
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.06,
+       1.0
+      ],
+      [
+       0.94,
+       0.32,
+       0.08
+      ],
+      [
+       -0.33,
+       0.94,
+       0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+   {
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+      0.66,
+      1.24
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.02,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
+       0.12
+      ],
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+       0.12,
+       0.99
+      ],
+      [
+       -0.99,
+       -0.06,
+       -0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
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+    "3D oriented bounding box": {
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+      1.52,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.02,
+       -1.0
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+       0.08,
+       -0.02
+      ],
+      [
+       0.08,
+       -1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "telephone": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.57,
+      1.1
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.13,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       0.0,
+       1.0
+      ],
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+       -0.96,
+       -0.01
+      ],
+      [
+       0.96,
+       0.28,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -0.36,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.37,
+      0.46,
+      0.26
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.97,
+       -0.25,
+       0.02
+      ],
+      [
+       0.2,
+       0.7,
+       -0.68
+      ],
+      [
+       0.16,
+       0.66,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.79,
+      -0.47,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.28,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.21,
+       0.98,
+       0.03
+      ],
+      [
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+       0.21,
+       -0.01
+      ],
+      [
+       -0.01,
+       -0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.63,
+      0.76
+     ],
+     "3D oriented bounding box dimensions": [
+      1.42,
+      1.21,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.02,
+       -0.08,
+       1.0
+      ],
+      [
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+       -1.0,
+       -0.08
+      ],
+      [
+       1.0,
+       0.03,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.66,
+      1.1,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      1.45,
+      0.88,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.0,
+       1.0
+      ],
+      [
+       0.99,
+       0.11,
+       -0.03
+      ],
+      [
+       -0.11,
+       0.99,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.12,
+      -1.49,
+      0.65
+     ],
+     "3D oriented bounding box dimensions": [
+      1.18,
+      0.98,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       0.02,
+       -1.0
+      ],
+      [
+       -0.45,
+       -0.89,
+       -0.02
+      ],
+      [
+       -0.89,
+       0.45,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.07,
+      -0.59,
+      0.46
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      0.79,
+      1.32
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.08,
+       1.0,
+       -0.01
+      ],
+      [
+       0.0,
+       -0.01,
+       -1.0
+      ],
+      [
+       -1.0,
+       -0.08,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.0,
+      -2.35
+     ],
+     [
+      2.51,
+      -2.35
+     ],
+     [
+      2.51,
+      1.16
+     ],
+     [
+      -1.0,
+      1.16
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0686_00.json b/data/spatial codes/ground truth/compact/scene0686_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..76104f7d49bb8533b29c32c221ce331c37485a11
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0686_00.json	
@@ -0,0 +1,186 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      1.12,
+      1.16
+     ],
+     "3D oriented bounding box dimensions": [
+      0.99,
+      0.75,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.99,
+       0.02
+      ],
+      [
+       0.0,
+       0.02,
+       -1.0
+      ],
+      [
+       -1.0,
+       0.1,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.47,
+      1.34,
+      0.5
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.21,
+      0.98
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.99,
+       0.15,
+       -0.01
+      ],
+      [
+       0.15,
+       0.96,
+       -0.22
+      ],
+      [
+       -0.02,
+       -0.22,
+       -0.97
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.16,
+      -1.62
+     ],
+     [
+      1.94,
+      -1.62
+     ],
+     [
+      1.94,
+      1.48
+     ],
+     [
+      -1.16,
+      1.48
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0693_00.json b/data/spatial codes/ground truth/compact/scene0693_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd203bf1f4e7d7d86828c46ff681c9daa4f709f2
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0693_00.json	
@@ -0,0 +1,352 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.94,
+      -0.56,
+      1.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.7,
+      0.21,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.04,
+       -1.0,
+       -0.03
+      ],
+      [
+       -0.08,
+       -0.02,
+       1.0
+      ],
+      [
+       -1.0,
+       0.04,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "towel": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      0.46,
+      0.79
+     ],
+     "3D oriented bounding box dimensions": [
+      0.1,
+      0.67,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.06,
+       1.0,
+       -0.01
+      ],
+      [
+       -0.99,
+       0.06,
+       0.15
+      ],
+      [
+       0.15,
+       0.0,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.89,
+      -0.22,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
+      1.67,
+      1.62,
+      0.1
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.03,
+       1.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.03
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.45,
+      -1.09,
+      1.18
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.37,
+      0.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.01,
+       0.06
+      ],
+      [
+       0.06,
+       0.04,
+       1.0
+      ],
+      [
+       -0.01,
+       1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.11,
+      -1.11,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.18,
+      0.34,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.04,
+       -0.02,
+       -1.0
+      ],
+      [
+       1.0,
+       0.05,
+       0.04
+      ],
+      [
+       0.05,
+       -1.0,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.95,
+      0.25,
+      0.14
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.24,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.09,
+       0.99
+      ],
+      [
+       1.0,
+       -0.05,
+       0.07
+      ],
+      [
+       0.05,
+       0.99,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.05,
+      -0.74,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      0.7,
+      0.12
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -0.01,
+       1.0
+      ],
+      [
+       -0.07,
+       1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.07,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -0.92,
+      -0.99
+     ],
+     [
+      1.07,
+      -0.99
+     ],
+     [
+      1.07,
+      0.99
+     ],
+     [
+      -0.92,
+      0.99
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0695_00.json b/data/spatial codes/ground truth/compact/scene0695_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d46e499a7d89a1d7ce1b93f710604c08ccdd85
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0695_00.json	
@@ -0,0 +1,524 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.66,
+      -0.8,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      2.24,
+      1.3,
+      0.79
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.08,
+       -0.07
+      ],
+      [
+       -0.03,
+       -0.83,
+       0.56
+      ],
+      [
+       -0.11,
+       -0.56,
+       -0.82
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.17,
+      0.18,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
+      0.65,
+      0.93,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.6,
+       0.79,
+       -0.08
+      ],
+      [
+       0.08,
+       -0.04,
+       -1.0
+      ],
+      [
+       -0.79,
+       -0.61,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.29,
+      0.39,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      0.59,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.15,
+       -0.97,
+       0.19
+      ],
+      [
+       0.99,
+       0.15,
+       -0.06
+      ],
+      [
+       0.03,
+       0.2,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.03,
+      -0.58,
+      1.34
+     ],
+     "3D oriented bounding box dimensions": [
+      0.87,
+      1.51,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.43,
+       -0.9,
+       0.04
+      ],
+      [
+       0.0,
+       0.05,
+       1.0
+      ],
+      [
+       -0.9,
+       -0.43,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "bookshelf": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.9,
+      0.95,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      1.0,
+      0.58,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       -0.02
+      ],
+      [
+       0.2,
+       0.98,
+       0.09
+      ],
+      [
+       0.0,
+       -0.1,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.43,
+      -0.77,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
+      0.68,
+      0.44,
+      0.09
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.22,
+       0.97,
+       -0.12
+      ],
+      [
+       -0.95,
+       0.24,
+       0.18
+      ],
+      [
+       0.2,
+       0.07,
+       0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.22,
+      1.1,
+      1.12
+     ],
+     "3D oriented bounding box dimensions": [
+      0.41,
+      0.36,
+      0.08
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.98,
+       -0.2,
+       0.06
+      ],
+      [
+       0.05,
+       -0.07,
+       -1.0
+      ],
+      [
+       0.2,
+       0.98,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.94,
+      -1.35,
+      0.99
+     ],
+     "3D oriented bounding box dimensions": [
+      1.63,
+      0.29,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       0.1,
+       0.99
+      ],
+      [
+       -0.12,
+       -0.99,
+       0.09
+      ],
+      [
+       0.99,
+       -0.11,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.95,
+      -0.36,
+      0.32
+     ],
+     "3D oriented bounding box dimensions": [
+      0.34,
+      0.48,
+      0.31
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.77,
+       0.07,
+       0.64
+      ],
+      [
+       0.34,
+       -0.8,
+       0.5
+      ],
+      [
+       0.54,
+       0.6,
+       0.59
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.05,
+      -1.3,
+      0.39
+     ],
+     "3D oriented bounding box dimensions": [
+      0.39,
+      0.37,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       1.0,
+       0.02,
+       0.06
+      ],
+      [
+       -0.02,
+       1.0,
+       -0.04
+      ],
+      [
+       -0.06,
+       0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.59,
+      0.78,
+      1.17
+     ],
+     "3D oriented bounding box dimensions": [
+      1.91,
+      0.57,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       0.0,
+       1.0
+      ],
+      [
+       -0.88,
+       -0.47,
+       0.02
+      ],
+      [
+       0.47,
+       -0.88,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.15,
+      0.96,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      1.24,
+      0.84,
+      0.66
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       -0.05
+      ],
+      [
+       -0.05,
+       0.02,
+       -1.0
+      ],
+      [
+       0.16,
+       0.99,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.59,
+      -1.67
+     ],
+     [
+      1.58,
+      -1.67
+     ],
+     [
+      1.58,
+      1.5
+     ],
+     [
+      -1.59,
+      1.5
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0696_01.json b/data/spatial codes/ground truth/compact/scene0696_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d276a3fbad86b3164a1261ee34777035afafe22
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0696_01.json	
@@ -0,0 +1,742 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "mattress": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.66,
+      -1.75,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      1.03,
+      1.91,
+      0.35
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.02,
+       -0.26,
+       0.97
+      ],
+      [
+       -1.0,
+       -0.02,
+       0.02
+      ],
+      [
+       0.01,
+       -0.97,
+       -0.26
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      -0.62,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.88,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.16,
+       0.99,
+       0.0
+      ],
+      [
+       0.05,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.99,
+       0.16,
+       -0.06
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.42,
+      0.29,
+      0.58
+     ],
+     "3D oriented bounding box dimensions": [
+      0.59,
+      0.5,
+      0.9
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0,
+       0.01
+      ],
+      [
+       -1.0,
+       -0.07,
+       -0.06
+      ],
+      [
+       0.06,
+       -0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.48,
+      -0.11,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.52,
+      0.84
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.01,
+       -1.0,
+       -0.02
+      ],
+      [
+       -1.0,
+       0.01,
+       -0.02
+      ],
+      [
+       0.02,
+       0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.47,
+      0.76,
+      0.54
+     ],
+     "3D oriented bounding box dimensions": [
+      0.84,
+      0.48,
+      0.53
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.05,
+       0.08,
+       1.0
+      ],
+      [
+       1.0,
+       -0.02,
+       0.05
+      ],
+      [
+       0.02,
+       1.0,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.53,
+      1.22,
+      0.56
+     ],
+     "3D oriented bounding box dimensions": [
+      0.48,
+      0.85,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       -0.03
+      ],
+      [
+       -0.16,
+       -0.03,
+       0.99
+      ],
+      [
+       -0.99,
+       -0.03,
+       -0.16
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.21,
+      1.07,
+      0.8
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.29,
+      0.19
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.15,
+       0.99,
+       0.04
+      ],
+      [
+       -0.51,
+       -0.04,
+       -0.86
+      ],
+      [
+       -0.85,
+       -0.14,
+       0.51
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.03,
+      0.12,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.4,
+      0.59,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.96,
+       -0.06
+      ],
+      [
+       0.7,
+       -0.23,
+       0.68
+      ],
+      [
+       -0.67,
+       0.14,
+       0.73
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.89,
+      -0.54,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
+      0.82,
+      0.47,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.07,
+       -0.06,
+       1.0
+      ],
+      [
+       0.92,
+       -0.39,
+       -0.09
+      ],
+      [
+       0.4,
+       0.92,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.04,
+      -1.1,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.39,
+      0.83
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.84,
+       -0.54,
+       -0.04
+      ],
+      [
+       -0.54,
+       -0.83,
+       -0.09
+      ],
+      [
+       0.02,
+       0.09,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.05,
+      2.27,
+      0.78
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      1.24,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.06,
+       -0.03
+      ],
+      [
+       0.01,
+       -0.37,
+       -0.93
+      ],
+      [
+       -0.06,
+       -0.93,
+       0.37
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "sofa": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      2.28,
+      0.68
+     ],
+     "3D oriented bounding box dimensions": [
+      1.92,
+      1.12,
+      0.42
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.99,
+       -0.16,
+       -0.03
+      ],
+      [
+       0.16,
+       0.87,
+       0.47
+      ],
+      [
+       -0.05,
+       -0.46,
+       0.88
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.32,
+      2.69,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.43,
+      0.54,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.1,
+       0.52,
+       0.85
+      ],
+      [
+       0.98,
+       0.07,
+       -0.16
+      ],
+      [
+       -0.14,
+       0.85,
+       -0.5
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.23,
+      1.38,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      0.56,
+      0.58,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       -0.04
+      ],
+      [
+       -0.01,
+       0.99,
+       -0.1
+      ],
+      [
+       0.04,
+       -0.1,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.2,
+      -0.1,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.51,
+      0.45
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.98,
+       0.21,
+       -0.02
+      ],
+      [
+       0.21,
+       0.98,
+       -0.04
+      ],
+      [
+       0.01,
+       -0.04,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.01,
+      -0.51,
+      1.4
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.63,
+      0.2
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.08,
+       0.99
+      ],
+      [
+       0.01,
+       1.0,
+       0.08
+      ],
+      [
+       -1.0,
+       0.0,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "radiator": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.21,
+      2.88,
+      1.0
+     ],
+     "3D oriented bounding box dimensions": [
+      1.72,
+      0.47,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.08,
+       0.02
+      ],
+      [
+       -0.02,
+       -0.03,
+       -1.0
+      ],
+      [
+       -0.08,
+       -1.0,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.01,
+      -2.62,
+      1.11
+     ],
+     "3D oriented bounding box dimensions": [
+      1.05,
+      2.02,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.31,
+       0.04
+      ],
+      [
+       -0.05,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.31,
+       -0.95,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.19,
+      0.26,
+      0.81
+     ],
+     "3D oriented bounding box dimensions": [
+      2.8,
+      1.53,
+      0.74
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.01,
+       -1.0,
+       -0.02
+      ],
+      [
+       -0.88,
+       0.0,
+       -0.47
+      ],
+      [
+       0.47,
+       0.02,
+       -0.88
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.6,
+      -2.43
+     ],
+     [
+      2.59,
+      -2.43
+     ],
+     [
+      2.59,
+      2.77
+     ],
+     [
+      -2.6,
+      2.77
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0697_01.json b/data/spatial codes/ground truth/compact/scene0697_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..da8abf0f8a59b4d10799c322317e06cea69bdd7a
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0697_01.json	
@@ -0,0 +1,584 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.03,
+      0.75,
+      0.71
+     ],
+     "3D oriented bounding box dimensions": [
+      2.09,
+      1.21,
+      2.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.45,
+       0.89,
+       -0.03
+      ],
+      [
+       -0.07,
+       0.01,
+       -1.0
+      ],
+      [
+       -0.89,
+       0.45,
+       0.07
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      -0.86,
+      0.26
+     ],
+     "3D oriented bounding box dimensions": [
+      1.56,
+      2.07,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.46,
+       0.89,
+       -0.06
+      ],
+      [
+       -0.89,
+       0.46,
+       0.01
+      ],
+      [
+       0.04,
+       0.05,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.44,
+      -2.03,
+      1.55
+     ],
+     "3D oriented bounding box dimensions": [
+      1.28,
+      2.59,
+      0.27
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.52,
+       0.85,
+       0.0
+      ],
+      [
+       -0.02,
+       -0.01,
+       -1.0
+      ],
+      [
+       -0.85,
+       -0.52,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.87,
+      -1.57,
+      1.51
+     ],
+     "3D oriented bounding box dimensions": [
+      0.32,
+      2.5,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       0.01,
+       0.01
+      ],
+      [
+       0.01,
+       0.04,
+       1.0
+      ],
+      [
+       0.01,
+       1.0,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ],
+  "pillow": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.17,
+      -0.3,
+      0.41
+     ],
+     "3D oriented bounding box dimensions": [
+      0.86,
+      0.56,
+      0.24
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.47,
+       0.88,
+       0.03
+      ],
+      [
+       -0.64,
+       0.32,
+       0.7
+      ],
+      [
+       0.6,
+       -0.35,
+       0.72
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.6,
+      1.17,
+      0.97
+     ],
+     "3D oriented bounding box dimensions": [
+      0.51,
+      0.65,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       -0.62,
+       -0.1
+      ],
+      [
+       -0.62,
+       -0.78,
+       -0.03
+      ],
+      [
+       -0.07,
+       0.08,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.9,
+      0.76,
+      0.98
+     ],
+     "3D oriented bounding box dimensions": [
+      0.53,
+      0.13,
+      0.76
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.94,
+       0.33,
+       0.08
+      ],
+      [
+       -0.06,
+       0.08,
+       -1.0
+      ],
+      [
+       -0.33,
+       -0.94,
+       -0.05
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "lamp": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.33,
+      0.15,
+      1.26
+     ],
+     "3D oriented bounding box dimensions": [
+      0.63,
+      0.3,
+      0.28
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.35,
+       0.25,
+       -0.9
+      ],
+      [
+       0.88,
+       0.41,
+       -0.23
+      ],
+      [
+       0.31,
+       -0.88,
+       -0.37
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
+  "tv": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.17,
+      -1.36,
+      1.88
+     ],
+     "3D oriented bounding box dimensions": [
+      0.96,
+      0.57,
+      0.04
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.57,
+       -0.82,
+       0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ],
+      [
+       -0.82,
+       0.57,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -1.36,
+      0.0,
+      0.6
+     ],
+     "3D oriented bounding box dimensions": [
+      0.85,
+      0.67,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.04,
+       -0.98
+      ],
+      [
+       -0.42,
+       -0.91,
+       -0.05
+      ],
+      [
+       -0.89,
+       0.42,
+       -0.19
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.36,
+      2.06,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
+      0.67,
+      0.7,
+      0.44
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.07,
+       -1.0
+      ],
+      [
+       0.52,
+       0.85,
+       0.05
+      ],
+      [
+       0.86,
+       -0.52,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.46,
+      2.74,
+      0.9
+     ],
+     "3D oriented bounding box dimensions": [
+      1.5,
+      0.86,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.06,
+       -0.05,
+       1.0
+      ],
+      [
+       -0.51,
+       -0.86,
+       -0.07
+      ],
+      [
+       0.86,
+       -0.51,
+       0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
+  "mirror": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.04,
+      1.52,
+      1.44
+     ],
+     "3D oriented bounding box dimensions": [
+      1.2,
+      0.89,
+      0.16
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.9,
+       -0.4,
+       0.16
+      ],
+      [
+       0.16,
+       -0.02,
+       -0.99
+      ],
+      [
+       0.4,
+       0.92,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 8.0
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.19,
+      1.82,
+      0.25
+     ],
+     "3D oriented bounding box dimensions": [
+      0.26,
+      0.23,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.03,
+       -1.0,
+       0.08
+      ],
+      [
+       -0.09,
+       0.07,
+       0.99
+      ],
+      [
+       -1.0,
+       -0.03,
+       -0.09
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.9,
+      -1.86
+     ],
+     [
+      2.09,
+      -1.86
+     ],
+     [
+      2.09,
+      2.13
+     ],
+     [
+      -1.9,
+      2.13
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0699_00.json b/data/spatial codes/ground truth/compact/scene0699_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7e84f59e3be48f66a85646a41356c2f10e2beeb
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0699_00.json	
@@ -0,0 +1,552 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "bed": [
+   {
+    "3D oriented bounding box": {
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+      -0.89,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
+      1.86,
+      0.93,
+      1.4
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
+       0.17
+      ],
+      [
+       0.02,
+       0.17,
+       0.99
+      ],
+      [
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+       0.27,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": 2.0
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
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+      -1.25,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.44,
+      0.77,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.98,
+       -0.18,
+       0.06
+      ],
+      [
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+       -0.03,
+       1.0
+      ],
+      [
+       -0.18,
+       -0.98,
+       -0.04
+      ]
+     ]
+    },
+    "first visible time": 5.0
+   }
+  ],
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+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.23,
+      1.38
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.17
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.01,
+       0.99
+      ],
+      [
+       -0.31,
+       -0.95,
+       -0.05
+      ],
+      [
+       0.94,
+       -0.32,
+       0.12
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+     "3D oriented bounding box center coordinates": [
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+      -2.55,
+      1.09
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.92,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.95,
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+      ],
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+       -0.17
+      ],
+      [
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+       -0.12,
+       -0.98
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "pillow": [
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+    "3D oriented bounding box": {
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+      -1.3,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.45,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.96,
+       -0.28,
+       0.06
+      ],
+      [
+       0.28,
+       0.96,
+       0.06
+      ],
+      [
+       -0.07,
+       -0.04,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   },
+   {
+    "3D oriented bounding box": {
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+      -1.44,
+      0.87
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.49,
+      0.18
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.95,
+       0.28,
+       0.11
+      ],
+      [
+       -0.29,
+       -0.96,
+       -0.04
+      ],
+      [
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+       -0.07,
+       0.99
+      ]
+     ]
+    },
+    "first visible time": 0.0
+   }
+  ],
+  "nightstand": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      -1.14,
+      0.52
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.62,
+      0.77
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.96,
+       -0.01
+      ],
+      [
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+       0.03,
+       -1.0
+      ],
+      [
+       0.96,
+       -0.28,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": 1.0
+   }
+  ],
+  "backpack": [
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+      -1.29,
+      0.4
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.46,
+      0.15
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.95,
+       -0.01
+      ],
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+       -0.32,
+       -0.21
+      ],
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+       0.06,
+       -0.98
+      ]
+     ]
+    },
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+   },
+   {
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+      -0.69,
+      0.53
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.34,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.87,
+       0.08,
+       -0.49
+      ],
+      [
+       0.12,
+       0.99,
+       -0.05
+      ],
+      [
+       0.49,
+       -0.1,
+       -0.87
+      ]
+     ]
+    },
+    "first visible time": 6.0
+   }
+  ],
+  "closet": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.22,
+      1.25,
+      1.43
+     ],
+     "3D oriented bounding box dimensions": [
+      1.84,
+      1.63,
+      0.39
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       0.07,
+       1.0
+      ],
+      [
+       -0.97,
+       0.24,
+       -0.02
+      ],
+      [
+       -0.24,
+       -0.97,
+       0.06
+      ]
+     ]
+    },
+    "first visible time": 7.0
+   }
+  ],
+  "door": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.88,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
+      0.81,
+      1.52,
+      0.13
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.78,
+       0.63,
+       0.0
+      ],
+      [
+       -0.01,
+       0.02,
+       1.0
+      ],
+      [
+       0.63,
+       -0.78,
+       0.02
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      1.58,
+      0.64
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.65,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.21,
+       -0.05
+      ],
+      [
+       0.04,
+       -0.06,
+       -1.0
+      ],
+      [
+       -0.21,
+       -0.98,
+       0.05
+      ]
+     ]
+    },
+    "first visible time": 3.0
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.02,
+      -1.87,
+      0.69
+     ],
+     "3D oriented bounding box dimensions": [
+      0.88,
+      0.82,
+      1.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.26,
+       -0.96,
+       -0.02
+      ],
+      [
+       -0.01,
+       0.03,
+       -1.0
+      ],
+      [
+       0.96,
+       -0.26,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": 4.0
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -2.31,
+      -2.1
+     ],
+     [
+      2.21,
+      -2.1
+     ],
+     [
+      2.21,
+      2.42
+     ],
+     [
+      -2.31,
+      2.42
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0700_02.json b/data/spatial codes/ground truth/compact/scene0700_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..e683944c7027757369fe1602eca380f4d903171d
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0700_02.json	
@@ -0,0 +1,650 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "chair": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.59,
+      0.36,
+      0.83
+     ],
+     "3D oriented bounding box dimensions": [
+      1.35,
+      0.68,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.09,
+       0.0,
+       1.0
+      ],
+      [
+       0.4,
+       -0.91,
+       -0.04
+      ],
+      [
+       0.91,
+       0.41,
+       -0.08
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.28,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.77,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.78,
+       0.57
+      ],
+      [
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+       -0.39,
+       -0.13
+      ],
+      [
+       0.32,
+       -0.48,
+       -0.81
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.6,
+      0.63
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.96,
+      0.5
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       -0.51,
+       -0.01
+      ],
+      [
+       -0.03,
+       0.06,
+       -1.0
+      ],
+      [
+       0.51,
+       -0.86,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.3,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.31,
+      0.07
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
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+       0.21,
+       0.03
+      ],
+      [
+       0.21,
+       -0.97,
+       -0.13
+      ],
+      [
+       0.0,
+       0.13,
+       -0.99
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "window": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      2.45,
+      0.67,
+      1.42
+     ],
+     "3D oriented bounding box dimensions": [
+      2.53,
+      1.04,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.19,
+       -0.96,
+       -0.2
+      ],
+      [
+       0.03,
+       -0.2,
+       0.98
+      ],
+      [
+       -0.98,
+       -0.19,
+       -0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "monitor": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.71,
+      1.25,
+      1.13
+     ],
+     "3D oriented bounding box dimensions": [
+      0.58,
+      0.21,
+      0.48
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -1.0,
+       -0.02,
+       0.02
+      ],
+      [
+       -0.02,
+       1.0,
+       -0.02
+      ],
+      [
+       -0.01,
+       -0.02,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.2,
+      1.18,
+      1.19
+     ],
+     "3D oriented bounding box dimensions": [
+      0.45,
+      0.41,
+      0.14
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.8,
+       -0.6,
+       0.02
+      ],
+      [
+       -0.08,
+       0.07,
+       -0.99
+      ],
+      [
+       0.6,
+       -0.8,
+       -0.1
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "keyboard": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      0.36,
+      0.95,
+      0.91
+     ],
+     "3D oriented bounding box dimensions": [
+      0.47,
+      0.16,
+      0.03
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.85,
+       0.53,
+       0.0
+      ],
+      [
+       0.53,
+       -0.85,
+       -0.01
+      ],
+      [
+       0.0,
+       0.01,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "backpack": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.08,
+      -0.58,
+      0.84
+     ],
+     "3D oriented bounding box dimensions": [
+      0.25,
+      0.38,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.59,
+       0.33,
+       0.74
+      ],
+      [
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+      -1.07,
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+     "3D oriented bounding box orientation unit vectors": [
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+       -1.0
+      ]
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+    "first visible time": null
+   },
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+      -1.1,
+      0.35
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+     "3D oriented bounding box dimensions": [
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+      0.36,
+      0.29
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.99,
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+       0.02,
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+       -0.15,
+       -0.02
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+      -0.45,
+      1.02
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.71,
+      0.1
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+     "3D oriented bounding box orientation unit vectors": [
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+       0.99,
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+       0.16,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.93,
+      0.59
+     ],
+     "3D oriented bounding box dimensions": [
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+      2.69,
+      0.86
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.25,
+       -0.97,
+       0.0
+      ],
+      [
+       -0.97,
+       -0.25,
+       -0.01
+      ],
+      [
+       0.01,
+       0.0,
+       -1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -1.73,
+      -1.68
+     ],
+     [
+      1.79,
+      -1.68
+     ],
+     [
+      1.79,
+      1.85
+     ],
+     [
+      -1.73,
+      1.85
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0701_00.json b/data/spatial codes/ground truth/compact/scene0701_00.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1087eaeb1bbe69a8fa78181437be6e4fd8daa3
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0701_00.json	
@@ -0,0 +1,252 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
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+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "sofa": [
+   {
+    "3D oriented bounding box": {
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+      0.1,
+      0.57
+     ],
+     "3D oriented bounding box dimensions": [
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+      3.84,
+      0.89
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+       -0.03,
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+    "first visible time": null
+   },
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+      -0.47,
+      0.59
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+      1.14,
+      0.4
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.97,
+       0.05
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+       -0.15,
+       0.68
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+       0.21,
+       0.73
+      ]
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+    },
+    "first visible time": null
+   }
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+      -1.6,
+      0.79
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+      0.21,
+      0.59
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+     "3D oriented bounding box orientation unit vectors": [
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+       -0.68,
+       0.35
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+       -0.71,
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+       -0.2,
+       0.76
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
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+      -0.11,
+      0.33
+     ],
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+      1.18,
+      0.47
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       1.0,
+       -0.02
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+       0.02,
+       1.0
+      ]
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+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
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+      -1.6
+     ],
+     [
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+      -1.6
+     ],
+     [
+      1.76,
+      2.15
+     ],
+     [
+      -1.98,
+      2.15
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0702_02.json b/data/spatial codes/ground truth/compact/scene0702_02.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6259ac09182395e4e7f96be78fdc689ed53e82
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0702_02.json	
@@ -0,0 +1,220 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "telephone": [
+   {
+    "3D oriented bounding box": {
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+      0.2,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.11,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.01,
+       -1.0
+      ],
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+       -0.02,
+       0.03
+      ],
+      [
+       -0.02,
+       1.0,
+       0.01
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
+   {
+    "3D oriented bounding box": {
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+      -0.3,
+      0.15
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.25,
+      0.3
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.0,
+       0.1
+      ],
+      [
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+       0.07,
+       -0.99
+      ],
+      [
+       0.0,
+       -1.0,
+       -0.07
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "door": [
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+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
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+      0.57,
+      0.86
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.68,
+      0.11
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       0.0,
+       -0.04,
+       1.0
+      ],
+      [
+       0.07,
+       1.0,
+       0.04
+      ],
+      [
+       -1.0,
+       0.07,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
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+      -0.56
+     ],
+     [
+      0.68,
+      -0.56
+     ],
+     [
+      0.68,
+      0.98
+     ],
+     [
+      -0.86,
+      0.98
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/compact/scene0704_01.json b/data/spatial codes/ground truth/compact/scene0704_01.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9a70cb69f7c636ef60f8c0d8a86b899002a98
--- /dev/null
+++ b/data/spatial codes/ground truth/compact/scene0704_01.json	
@@ -0,0 +1,382 @@
+{
+ "spatial code schema": {
+  "objects": {
+   "<object class>": [
+    {
+     "3D oriented bounding box": {
+      "3D oriented bounding box center coordinates": {
+       "components": [
+        "x",
+        "y",
+        "height above floor"
+       ],
+       "unit": "meters",
+       "description": "center of the 3D oriented bounding box in the shared room coordinate system"
+      },
+      "3D oriented bounding box dimensions": {
+       "components": [
+        "dimension 1",
+        "dimension 2",
+        "dimension 3"
+       ],
+       "unit": "meters",
+       "description": "full lengths of the 3D oriented bounding box along the corresponding orientation unit vectors"
+      },
+      "3D oriented bounding box orientation unit vectors": {
+       "components": [
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ],
+        [
+         "x",
+         "y",
+         "height"
+        ]
+       ],
+       "unit": null,
+       "description": "three perpendicular directions corresponding in order to the three 3D oriented bounding box dimensions"
+      }
+     },
+     "first visible time": {
+      "unit": "seconds",
+      "description": "earliest time at which this object instance is visibly observed"
+     }
+    }
+   ]
+  },
+  "room": {
+   "floor boundary polygons": [
+    {
+     "outer boundary coordinates": {
+      "components": [
+       [
+        "x",
+        "y"
+       ],
+       [
+        "x",
+        "y"
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered vertices enclosing one floor region"
+     },
+     "interior hole boundary coordinates": {
+      "components": [
+       [
+        [
+         "x",
+         "y"
+        ],
+        [
+         "x",
+         "y"
+        ]
+       ]
+      ],
+      "unit": "meters",
+      "description": "ordered boundaries enclosing regions excluded from the floor area"
+     }
+    }
+   ]
+  }
+ },
+ "objects": {
+  "counter": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.52,
+      0.73,
+      0.96
+     ],
+     "3D oriented bounding box dimensions": [
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+      1.71,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.89,
+       -0.02
+      ],
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+       -0.44,
+       -0.11
+      ],
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+       0.07,
+       -0.99
+      ]
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+    },
+    "first visible time": null
+   }
+  ],
+  "printer": [
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+      1.32,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.65,
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+       0.76,
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+      ],
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+       0.03,
+       1.0
+      ]
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+    "first visible time": null
+   },
+   {
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+      1.32,
+      1.07
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.56,
+      0.34
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.65,
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+      ],
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+       0.76,
+       -0.01
+      ],
+      [
+       -0.02,
+       0.03,
+       1.0
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "trash bin": [
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+    "3D oriented bounding box": {
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+      1.98,
+      0.29
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.4,
+      0.25
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.78,
+       -0.12
+      ],
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+       0.1,
+       -0.99
+      ],
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+       -0.62,
+       0.0
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
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+      -0.63,
+      0.45
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.69,
+      0.37
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       0.9,
+       -0.04
+      ],
+      [
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+       -0.2,
+       0.85
+      ],
+      [
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+       -0.39,
+       -0.52
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
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+      -0.41,
+      0.23
+     ],
+     "3D oriented bounding box dimensions": [
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+      0.35,
+      0.36
+     ],
+     "3D oriented bounding box orientation unit vectors": [
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+       -0.14,
+       -0.99
+      ],
+      [
+       0.75,
+       0.65,
+       -0.1
+      ],
+      [
+       0.66,
+       -0.74,
+       0.09
+      ]
+     ]
+    },
+    "first visible time": null
+   },
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      1.51,
+      -1.07,
+      0.48
+     ],
+     "3D oriented bounding box dimensions": [
+      0.61,
+      0.29,
+      0.57
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.02,
+       0.12,
+       -0.99
+      ],
+      [
+       0.08,
+       0.99,
+       0.12
+      ],
+      [
+       1.0,
+       -0.07,
+       -0.03
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ],
+  "table": [
+   {
+    "3D oriented bounding box": {
+     "3D oriented bounding box center coordinates": [
+      -0.64,
+      -0.89,
+      0.73
+     ],
+     "3D oriented bounding box dimensions": [
+      0.69,
+      0.98,
+      1.06
+     ],
+     "3D oriented bounding box orientation unit vectors": [
+      [
+       -0.43,
+       0.37,
+       0.83
+      ],
+      [
+       0.72,
+       0.69,
+       0.06
+      ],
+      [
+       -0.55,
+       0.62,
+       -0.56
+      ]
+     ]
+    },
+    "first visible time": null
+   }
+  ]
+ },
+ "room": {
+  "floor boundary polygons": [
+   {
+    "outer boundary coordinates": [
+     [
+      -1.96,
+      -2.0
+     ],
+     [
+      1.95,
+      -2.0
+     ],
+     [
+      1.95,
+      1.91
+     ],
+     [
+      -1.96,
+      1.91
+     ]
+    ],
+    "interior hole boundary coordinates": []
+   }
+  ]
+ }
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159541.json b/data/spatial codes/ground truth/explicit/41159541.json
new file mode 100644
index 0000000000000000000000000000000000000000..814f2545d62c0b4558a467467dbcdbb41607a0ca
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159541.json	
@@ -0,0 +1,262 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.12 meters",
+      "y coordinate": "0.47 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.72 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.35 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "3.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "-2.62 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "-1.5 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-1.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "-2.34 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "-2.54 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "-2.71 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.31 meters",
+      "y coordinate": "-2.69 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.61 meters",
+      "y coordinate": "-3.61 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-2.64 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.6 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159555.json b/data/spatial codes/ground truth/explicit/41159555.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fbe170c8fd38c88830a71f60f66178e7ffc4609
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159555.json	
@@ -0,0 +1,80 @@
+{
+ "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": "2.74 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "28.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41159572.json b/data/spatial codes/ground truth/explicit/41159572.json
new file mode 100644
index 0000000000000000000000000000000000000000..8164a2a865fbabb70f446d113287367e51296149
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41159572.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": {
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "-1.59 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.72 meters",
+      "y coordinate": "-3.71 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.14 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.73 meters",
+      "y coordinate": "-4.37 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "2.24 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "-3.13 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "-5.33 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-3.45 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "43.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.15 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.15 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.53 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "fireplace", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254246.json b/data/spatial codes/ground truth/explicit/41254246.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62e6c4bdd6b6909ddfba66247ff2cf0fee5eacf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254246.json	
@@ -0,0 +1,80 @@
+{
+ "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": "1.66 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254386.json b/data/spatial codes/ground truth/explicit/41254386.json
new file mode 100644
index 0000000000000000000000000000000000000000..2015667448d21f5b521b3119751558f75eed38e0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254386.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": "1.51 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254402.json b/data/spatial codes/ground truth/explicit/41254402.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ad0955fba4421277baaeb0f35171f29ed515c9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254402.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.93 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.78 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/41254432.json b/data/spatial codes/ground truth/explicit/41254432.json
new file mode 100644
index 0000000000000000000000000000000000000000..926af340e0e326948bcd4c3b8dc10c6f3d38a196
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/41254432.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": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.31 meters",
+      "y coordinate": "-0.02 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-5.04 meters",
+      "y coordinate": "-0.38 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.57 meters",
+      "y coordinate": "-2.27 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.38 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.28 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "31.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.59 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.49 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "4.39 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "sofa": {
+    "distance": "1.59 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "4.39 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42444950.json b/data/spatial codes/ground truth/explicit/42444950.json
new file mode 100644
index 0000000000000000000000000000000000000000..157709f2da84713bb71df49e3970854c2c62d280
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42444950.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": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.21 meters",
+      "y coordinate": "0.62 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.09 meters",
+      "y coordinate": "3.65 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.58 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "2.63 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.58 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "sofa": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42444954.json b/data/spatial codes/ground truth/explicit/42444954.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4947746ddb88047eac3f107f8eb44a752f2ffbf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42444954.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": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.27 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.46 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.62 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "1.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "bathtub": {
+    "distance": "1.48 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "2.41 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445026.json b/data/spatial codes/ground truth/explicit/42445026.json
new file mode 100644
index 0000000000000000000000000000000000000000..707aa987c36374cd96a5bc341a7ca7b64701e4a7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445026.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": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.59 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "3.16 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.56 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.57 meters",
+      "y coordinate": "1.65 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "sofa": {
+    "distance": "1.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.18 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445031.json b/data/spatial codes/ground truth/explicit/42445031.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1bf26edd0972f2546f4d047b4406ca650ab3e9e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445031.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.43 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.32 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "1.15 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.55 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.55 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445429.json b/data/spatial codes/ground truth/explicit/42445429.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f3a7b72f4d749ec4fdf5c43d718bf43dc35b75
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445429.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": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.04 meters",
+      "y coordinate": "-1.46 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.43 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.1 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42445981.json b/data/spatial codes/ground truth/explicit/42445981.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c5dbb663894bcc5a8d6bb3f27732c3b12ffe1a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42445981.json	
@@ -0,0 +1,238 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.38 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "1.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "2.87 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.08 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "2.57 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.36 meters",
+      "y coordinate": "3.26 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.0 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.18 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.65 meters",
+      "y coordinate": "2.67 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "3.06 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.32 meters",
+      "y coordinate": "2.32 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.12 meters",
+      "y coordinate": "1.98 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.9 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.52 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.27 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446049.json b/data/spatial codes/ground truth/explicit/42446049.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e5a8e27f80ac57efe82b98a44c94bae1ed94c7e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446049.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": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.86 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.41 meters",
+      "y coordinate": "0.78 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.29 meters",
+      "y coordinate": "-0.69 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "washer": {
+    "distance": "0.97 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "stove": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.85 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.04 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446056.json b/data/spatial codes/ground truth/explicit/42446056.json
new file mode 100644
index 0000000000000000000000000000000000000000..c74d55dc65d4c22d3e7ea270c60943eb3e2e00e2
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446056.json	
@@ -0,0 +1,159 @@
+{
+ "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": "-1.17 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.22 meters",
+      "y coordinate": "3.59 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.66 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "1.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.71 meters",
+      "y coordinate": "3.75 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "3.18 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446103.json b/data/spatial codes/ground truth/explicit/42446103.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0292c7e2df9eb3255a0b9e87a68cd0daafa50ef
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446103.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": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.2 meters",
+      "y coordinate": "8.32 meters",
+      "height above floor": "0.91 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.62 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "2.14 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.13 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.44 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.84 meters",
+      "y coordinate": "3.2 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.01 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "1.65 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.56 meters",
+      "y coordinate": "4.3 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.44 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "3.47 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.52 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.52 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.89 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.84 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.52 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.66 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.89 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.12 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.61 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.35 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.66 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "3.13 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "3.52 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["stove", "sofa", "table", "chair", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446116.json b/data/spatial codes/ground truth/explicit/42446116.json
new file mode 100644
index 0000000000000000000000000000000000000000..c805e5702c42f09438605a4f11da5fcdd90f2007
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446116.json	
@@ -0,0 +1,80 @@
+{
+ "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": "-0.79 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446167.json b/data/spatial codes/ground truth/explicit/42446167.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0610f7b4aacf05ba53c93f401db5e60f44688e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446167.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.37 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.83 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.45 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.54 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "1.67 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.25 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "table": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.22 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "toilet": {
+    "distance": "2.22 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "2.25 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.33 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "toilet", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446517.json b/data/spatial codes/ground truth/explicit/42446517.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c6a5daaff5fa6e40a555ae461eabe77ad53d2d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446517.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": {
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.03 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.2 meters",
+      "y coordinate": "0.36 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.05 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.6 meters",
+      "y coordinate": "0.33 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "-0.27 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "1.45 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.56 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446529.json b/data/spatial codes/ground truth/explicit/42446529.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f68621b8c2078c529ca1faad6aee7cb39550b8a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446529.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.1 meters",
+      "y coordinate": "-0.64 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "2.39 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "3.71 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.39 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "3.71 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "chair", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446535.json b/data/spatial codes/ground truth/explicit/42446535.json
new file mode 100644
index 0000000000000000000000000000000000000000..399a99dd522fc0610ca1746c20f8e9f33aede4ea
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446535.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": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.83 meters",
+      "y coordinate": "-0.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.93 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42446541.json b/data/spatial codes/ground truth/explicit/42446541.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8fd299ca8fca3de3a5ac38baf5f01a736b530fb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42446541.json	
@@ -0,0 +1,324 @@
+{
+ "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": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.14 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.86 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "1.7 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.35 meters",
+      "y coordinate": "0.69 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.16 meters",
+      "y coordinate": "-1.79 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.55 meters",
+      "y coordinate": "-2.57 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.68 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "0.23 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.99 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.12 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.3 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "-1.73 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "refrigerator": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.1 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "refrigerator": {
+   "washer": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.14 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.29 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.64 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.1 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.14 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.29 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.64 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.86 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.29 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.3 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.57 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "3.58 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["washer", "refrigerator", "table", "chair", "sofa", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897508.json b/data/spatial codes/ground truth/explicit/42897508.json
new file mode 100644
index 0000000000000000000000000000000000000000..0328e6f1a3a7c16f6e58b26b0532db4b9aefca4f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897508.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": {
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "-0.75 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "-0.13 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.65 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["sofa", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897528.json b/data/spatial codes/ground truth/explicit/42897528.json
new file mode 100644
index 0000000000000000000000000000000000000000..78614d5493fa8d12e0758231f2792f98159ac5f7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897528.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": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "-1.29 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.65 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "1.33 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "refrigerator": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "2.33 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "washer", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42897554.json b/data/spatial codes/ground truth/explicit/42897554.json
new file mode 100644
index 0000000000000000000000000000000000000000..47db92c18c63d53f5fb474b246b9f78adfc13403
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42897554.json	
@@ -0,0 +1,80 @@
+{
+ "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": "3.78 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898486.json b/data/spatial codes/ground truth/explicit/42898486.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad819770befe204329dd2bb5bf7eac5c4f3b97d4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898486.json	
@@ -0,0 +1,253 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.53 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.16 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.2 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.63 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.21 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.38 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "34.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.78 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.04 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.3 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "0.45 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.78 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "2.17 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "fireplace", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42898581.json b/data/spatial codes/ground truth/explicit/42898581.json
new file mode 100644
index 0000000000000000000000000000000000000000..291dedcb9ee7b322cdb68fdf7fb4ba573c01bebb
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42898581.json	
@@ -0,0 +1,182 @@
+{
+ "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": "0.83 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "3.96 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.99 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "2.94 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.17 meters",
+      "y coordinate": "2.93 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.36 meters",
+      "y coordinate": "3.88 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.19 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "3.19 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899696.json b/data/spatial codes/ground truth/explicit/42899696.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91b4c14ad662aa6e9db55a437edae8ff9e6e690
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899696.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "2.06 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.84 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.66 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.29 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.9 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.83 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "1.2 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.43 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "4.93 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "5.09 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.43 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "5.09 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.13 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.63 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "3.31 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.93 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "1.23 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.38 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.63 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.63 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "sofa", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/42899712.json b/data/spatial codes/ground truth/explicit/42899712.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b08ad25cc377925285f3b5342e10fc6ddee4859
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/42899712.json	
@@ -0,0 +1,253 @@
+{
+ "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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.33 meters",
+      "y coordinate": "3.14 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "2.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "3.86 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.51 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.99 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.9 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "-1.75 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.31 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.32 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.41 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "4.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "sofa": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.84 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "2.74 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.32 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "4.31 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662943.json b/data/spatial codes/ground truth/explicit/45662943.json
new file mode 100644
index 0000000000000000000000000000000000000000..af16b0adfe9ed28f0ee2621394088303d69bce38
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662943.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "4.74 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.31 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.34 meters",
+      "y coordinate": "5.96 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.1 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.08 meters",
+      "y coordinate": "7.23 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "41.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "2.31 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.66 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "2.13 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "2.24 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.66 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.28 meters",
+    "closeness rank": 4
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "2.24 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "2.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "4.12 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.93 meters",
+    "closeness rank": 2
+   },
+   "fireplace": {
+    "distance": "4.0 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "5.28 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "tv", "fireplace", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45662970.json b/data/spatial codes/ground truth/explicit/45662970.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4ded8d1404de8bd96c4221f10675ac5ead0f38
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45662970.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": {
+  "washer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.9 meters",
+      "y coordinate": "0.74 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.26 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {}
+ },
+ "appearance order": ["washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/45663154.json b/data/spatial codes/ground truth/explicit/45663154.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f11b05ca2cd09eb7e2d6a6a11fbee6f7fa1d82d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/45663154.json	
@@ -0,0 +1,182 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.6 meters",
+      "y coordinate": "-0.11 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.84 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "2.45 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.85 meters",
+      "y coordinate": "-1.64 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.38 meters",
+      "y coordinate": "-0.21 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.4 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "33.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.2 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "fireplace", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115469.json b/data/spatial codes/ground truth/explicit/47115469.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d956362a2fb1f090b1557d09728b84b85180a93
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115469.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": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.3 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.09 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.61 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "1.29 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.21 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "1.21 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "2.65 meters",
+    "closeness rank": 2
+   }
+  },
+  "stool": {
+   "bathtub": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "2.65 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115525.json b/data/spatial codes/ground truth/explicit/47115525.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff227b4c7264df699dafb9c60c901720015e407
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115525.json	
@@ -0,0 +1,182 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "3.01 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.88 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.76 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "1.19 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.34 meters",
+      "y coordinate": "4.67 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "fireplace": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "fireplace": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.85 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.0 meters",
+    "closeness rank": 3
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.02 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "fireplace"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47115543.json b/data/spatial codes/ground truth/explicit/47115543.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dcc03f6ce3c6b577b30b0cf76fc02049b32ce09
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47115543.json	
@@ -0,0 +1,191 @@
+{
+ "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": "1.53 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.8 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.94 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "2.05 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "4.18 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "4.02 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.97 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "4.46 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.21 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204566.json b/data/spatial codes/ground truth/explicit/47204566.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af76f7ed4e48f82ffe6965276ac44c60446f787
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204566.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": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.58 meters",
+      "y coordinate": "1.21 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "2.73 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.8 meters",
+      "y coordinate": "-0.26 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.03 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204578.json b/data/spatial codes/ground truth/explicit/47204578.json
new file mode 100644
index 0000000000000000000000000000000000000000..93544469a01eca2605a76512e29b7d441db1cbce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204578.json	
@@ -0,0 +1,182 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "2.22 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.41 meters",
+      "y coordinate": "1.09 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.19 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.65 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.08 meters",
+      "y coordinate": "-0.24 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "-0.37 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.33 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.11 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "2.26 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.26 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "tv": {
+    "distance": "0.61 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.11 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.35 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47204607.json b/data/spatial codes/ground truth/explicit/47204607.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d85526339d0dee7f28816bbb659dccc7fc505dc
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47204607.json	
@@ -0,0 +1,167 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "2.02 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.06 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "2.43 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.93 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.97 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.72 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "4.57 meters",
+      "height above floor": "0.82 meters"
+     },
+     "longest dimension": "1.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.51 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331068.json b/data/spatial codes/ground truth/explicit/47331068.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6646ba5a9aeadc14e651f6156b1f9243048b37b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331068.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": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.42 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.51 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "5.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "bathtub": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.36 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.36 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.18 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "bathtub", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331262.json b/data/spatial codes/ground truth/explicit/47331262.json
new file mode 100644
index 0000000000000000000000000000000000000000..40d6242dd7770273d7bde741c870914fa1bf409d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331262.json	
@@ -0,0 +1,238 @@
+{
+ "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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.15 meters",
+      "y coordinate": "1.75 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.14 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.2 meters",
+      "y coordinate": "3.32 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.82 meters",
+      "y coordinate": "2.15 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.67 meters",
+      "y coordinate": "-0.23 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "1.61 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.28 meters",
+      "y coordinate": "-0.06 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.24 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.16 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "30.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.72 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.96 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.72 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331316.json b/data/spatial codes/ground truth/explicit/47331316.json
new file mode 100644
index 0000000000000000000000000000000000000000..588305850fa833f97dbc3089a6ca9a67fb1ac917
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331316.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": {
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "2.04 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.47 meters",
+      "y coordinate": "2.26 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.45 meters",
+      "y coordinate": "1.14 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "0.98 meters",
+      "height above floor": "1.51 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.8 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.49 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.31 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.8 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.89 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331319.json b/data/spatial codes/ground truth/explicit/47331319.json
new file mode 100644
index 0000000000000000000000000000000000000000..e97345e35b3d338cad81c863d98fb5f60e365ab5
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331319.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": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.45 meters",
+      "y coordinate": "0.35 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "1.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.51 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.02 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "-1.54 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "refrigerator": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.94 meters",
+    "closeness rank": 2
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.94 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.11 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "chair", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331331.json b/data/spatial codes/ground truth/explicit/47331331.json
new file mode 100644
index 0000000000000000000000000000000000000000..180043bd982dc387f8741a3088cc08008151948c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331331.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.41 meters",
+      "y coordinate": "1.07 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "2.42 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.77 meters",
+      "y coordinate": "0.81 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "29.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331336.json b/data/spatial codes/ground truth/explicit/47331336.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ff4d2a89babc1d0dbd7bbc4ac2b03d7722ea3e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331336.json	
@@ -0,0 +1,80 @@
+{
+ "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": "1.29 meters",
+      "y coordinate": "0.76 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {}
+ },
+ "appearance order": ["toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331644.json b/data/spatial codes/ground truth/explicit/47331644.json
new file mode 100644
index 0000000000000000000000000000000000000000..4678f897f616a5b74344eb0ac25ae17650a237da
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331644.json	
@@ -0,0 +1,254 @@
+{
+ "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": "-0.08 meters",
+      "y coordinate": "3.72 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.96 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "5.52 meters",
+      "height above floor": "0.18 meters"
+     },
+     "longest dimension": "0.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.35 meters",
+      "y coordinate": "-0.65 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.53 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.96 meters",
+      "y coordinate": "5.57 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.81 meters",
+      "y coordinate": "3.25 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.6 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.03 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.17 meters",
+      "y coordinate": "5.37 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "4.76 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.23 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "2.4 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.94 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "23.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.62 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.62 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "stool", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331654.json b/data/spatial codes/ground truth/explicit/47331654.json
new file mode 100644
index 0000000000000000000000000000000000000000..c649bebb61e6e80aa3bcd9472d02b3a404b3ae61
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331654.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": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.46 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.5 meters",
+      "y coordinate": "1.85 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.62 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.2 meters",
+      "y coordinate": "2.7 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.18 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.07 meters",
+      "y coordinate": "1.96 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "1.36 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.72 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.25 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "stove": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "washer": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.5 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "refrigerator": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.85 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.37 meters",
+    "closeness rank": 4
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "refrigerator": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.37 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["washer", "stove", "chair", "refrigerator", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331668.json b/data/spatial codes/ground truth/explicit/47331668.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f65d61a7b80482aac2e482626842ab12b4c49e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331668.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": {
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "0.93 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.61 meters",
+      "y coordinate": "2.44 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.97 meters",
+      "y coordinate": "2.07 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.63 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.73 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.37 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.26 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   }
+  },
+  "bed": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.61 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.91 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.26 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.42 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.84 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.96 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.91 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.61 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.84 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["stool", "bed", "tv", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331970.json b/data/spatial codes/ground truth/explicit/47331970.json
new file mode 100644
index 0000000000000000000000000000000000000000..fed654c5856a04d5b1059358427b030825373760
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331970.json	
@@ -0,0 +1,277 @@
+{
+ "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": "-1.2 meters",
+      "y coordinate": "-0.76 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.24 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.62 meters",
+      "y coordinate": "2.21 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.9 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.23 meters",
+      "y coordinate": "2.58 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.0 meters",
+      "y coordinate": "1.78 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.05 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.52 meters",
+      "y coordinate": "4.9 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.44 meters",
+      "y coordinate": "4.98 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.27 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.35 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "47.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "chair": {
+    "distance": "2.01 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.27 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "2.8 meters",
+    "closeness rank": 4
+   }
+  },
+  "dishwasher": {
+   "table": {
+    "distance": "0.66 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.8 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.66 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.38 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.27 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.51 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.74 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.01 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "dishwasher": {
+    "distance": "3.39 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "dishwasher", "table", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331972.json b/data/spatial codes/ground truth/explicit/47331972.json
new file mode 100644
index 0000000000000000000000000000000000000000..33173047bc2228ed30f368366fca4591f56a105c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331972.json	
@@ -0,0 +1,474 @@
+{
+ "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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.06 meters",
+      "y coordinate": "4.13 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "6.61 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "2.49 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.39 meters",
+      "y coordinate": "6.47 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.27 meters",
+      "y coordinate": "4.28 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.87 meters",
+      "y coordinate": "3.85 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.27 meters"
+    }
+   ]
+  },
+  "fireplace": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.43 meters",
+      "y coordinate": "5.38 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.58 meters",
+      "y coordinate": "3.68 meters",
+      "height above floor": "1.77 meters"
+     },
+     "longest dimension": "1.41 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "5.25 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.06 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.51 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.25 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.5 meters",
+      "y coordinate": "3.49 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "dishwasher": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.39 meters",
+      "y coordinate": "2.81 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.42 meters",
+      "y coordinate": "-1.2 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "1.76 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "51.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   },
+   "fireplace": {
+    "distance": "1.84 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.04 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "3.45 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "4.1 meters",
+    "closeness rank": 7
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "dishwasher": {
+    "distance": "0.79 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   },
+   "fireplace": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.01 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.73 meters",
+    "closeness rank": 7
+   }
+  },
+  "fireplace": {
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.84 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "5.65 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "6.18 meters",
+    "closeness rank": 5
+   },
+   "dishwasher": {
+    "distance": "8.38 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "8.4 meters",
+    "closeness rank": 7
+   }
+  },
+  "tv": {
+   "fireplace": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.17 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.01 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "5.81 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "6.11 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "7.91 meters",
+    "closeness rank": 6
+   },
+   "dishwasher": {
+    "distance": "8.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "2.09 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "3.57 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "5.65 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "6.11 meters",
+    "closeness rank": 7
+   }
+  },
+  "dishwasher": {
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.85 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "2.96 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.45 meters",
+    "closeness rank": 5
+   },
+   "fireplace": {
+    "distance": "8.38 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "8.65 meters",
+    "closeness rank": 7
+   }
+  },
+  "refrigerator": {
+   "bed": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "2.04 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "2.09 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   },
+   "dishwasher": {
+    "distance": "2.85 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.81 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "6.18 meters",
+    "closeness rank": 7
+   }
+  },
+  "bed": {
+   "refrigerator": {
+    "distance": "1.32 meters",
+    "closeness rank": 1
+   },
+   "dishwasher": {
+    "distance": "2.96 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "3.57 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.73 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "4.1 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "7.91 meters",
+    "closeness rank": 6
+   },
+   "fireplace": {
+    "distance": "8.4 meters",
+    "closeness rank": 7
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "fireplace", "tv", "chair", "dishwasher", "refrigerator", "bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47331990.json b/data/spatial codes/ground truth/explicit/47331990.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ddcbe587e1460e3344d3ccfeab49f2f8f5d0b8f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47331990.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.47 meters",
+      "y coordinate": "0.91 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "1.53 meters",
+      "height above floor": "1.96 meters"
+     },
+     "longest dimension": "1.12 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.68 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "-2.31 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "3.04 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "1.02 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "1.83 meters",
+    "closeness rank": 2
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.47 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bed", "tv", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332005.json b/data/spatial codes/ground truth/explicit/47332005.json
new file mode 100644
index 0000000000000000000000000000000000000000..3271af72c3739a84df537449256dc9253ed02ff4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332005.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": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.3 meters",
+      "y coordinate": "1.67 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "-2.76 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "sofa": {
+    "distance": "3.88 meters",
+    "closeness rank": 1
+   }
+  },
+  "sofa": {
+   "toilet": {
+    "distance": "3.88 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332886.json b/data/spatial codes/ground truth/explicit/47332886.json
new file mode 100644
index 0000000000000000000000000000000000000000..07970500f027f00fe126318452c5a1142c0a88a7
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332886.json	
@@ -0,0 +1,190 @@
+{
+ "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": "3.84 meters",
+      "y coordinate": "-0.44 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "2.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.15 meters",
+      "y coordinate": "1.74 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "0.5 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.26 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.6 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.81 meters",
+      "y coordinate": "0.44 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.0 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "21.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.38 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.41 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332899.json b/data/spatial codes/ground truth/explicit/47332899.json
new file mode 100644
index 0000000000000000000000000000000000000000..41b8f45bd25f04b4f25b8a509d1e506f3cb22504
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332899.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.21 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.81 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.42 meters",
+      "y coordinate": "-0.3 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.23 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.67 meters",
+      "y coordinate": "-0.47 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.71 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.79 meters",
+      "y coordinate": "0.32 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "stool": {
+    "distance": "0.72 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.19 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.65 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.19 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "tv", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332901.json b/data/spatial codes/ground truth/explicit/47332901.json
new file mode 100644
index 0000000000000000000000000000000000000000..db461310e68067cb5996ccb6a03cde8f26b64405
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332901.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": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.7 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "3.58 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.17 meters",
+      "y coordinate": "1.76 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.14 meters",
+      "y coordinate": "3.02 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "11.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "table": {
+    "distance": "1.19 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "refrigerator": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.19 meters",
+    "closeness rank": 2
+   }
+  },
+  "refrigerator": {
+   "table": {
+    "distance": "0.44 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.66 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stove", "table", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332908.json b/data/spatial codes/ground truth/explicit/47332908.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ac5e0be9308add5cf49e3640bbb50827918857a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332908.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": "-0.39 meters",
+      "y coordinate": "1.93 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.21 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.22 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47332918.json b/data/spatial codes/ground truth/explicit/47332918.json
new file mode 100644
index 0000000000000000000000000000000000000000..901c38d5418b5da1f2e0ccdedbdbfe0bca092c70
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47332918.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.18 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "2.09 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.36 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.79 meters",
+      "y coordinate": "-0.7 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.51 meters",
+      "y coordinate": "0.08 meters",
+      "height above floor": "1.6 meters"
+     },
+     "longest dimension": "1.44 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.47 meters",
+      "y coordinate": "-1.08 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.89 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.03 meters",
+      "y coordinate": "-0.54 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.57 meters",
+      "y coordinate": "-0.43 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "chair": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.7 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.75 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.54 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.75 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333436.json b/data/spatial codes/ground truth/explicit/47333436.json
new file mode 100644
index 0000000000000000000000000000000000000000..53e8cf5c03f06e297c8b1994726b4d6a548f0e8f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333436.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": {
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "1.15 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "2.23 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "-0.81 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   }
+  },
+  "tv": {
+   "bed": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bed", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333457.json b/data/spatial codes/ground truth/explicit/47333457.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd601f5bff0e1a2a9512e3d169e9e9726ca4386
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333457.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": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.11 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "1.14 meters"
+     },
+     "longest dimension": "0.7 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.26 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.27 meters",
+      "y coordinate": "2.72 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.44 meters",
+      "y coordinate": "-2.74 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "0.3 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.77 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.37 meters",
+      "y coordinate": "2.85 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "-0.09 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.35 meters",
+      "y coordinate": "2.04 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.91 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.57 meters",
+      "y coordinate": "0.73 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.84 meters",
+      "y coordinate": "-0.34 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "-2.73 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.59 meters",
+      "y coordinate": "-2.52 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-2.03 meters",
+      "height above floor": "0.11 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "20.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "chair": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.56 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.13 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.45 meters",
+    "closeness rank": 6
+   },
+   "washer": {
+    "distance": "3.69 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "3.97 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "toilet": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.16 meters",
+    "closeness rank": 5
+   },
+   "washer": {
+    "distance": "0.24 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "0.26 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "0.32 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "0.47 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "2.47 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "2.67 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "3.0 meters",
+    "closeness rank": 8
+   }
+  },
+  "bed": {
+   "refrigerator": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "3.33 meters",
+    "closeness rank": 6
+   },
+   "toilet": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "3.68 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "bed": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.54 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.23 meters",
+    "closeness rank": 5
+   },
+   "toilet": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   },
+   "stool": {
+    "distance": "3.12 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "3.46 meters",
+    "closeness rank": 8
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.15 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "1.8 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.92 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.13 meters",
+    "closeness rank": 7
+   },
+   "washer": {
+    "distance": "2.16 meters",
+    "closeness rank": 8
+   }
+  },
+  "toilet": {
+   "chair": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.8 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.47 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.04 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.58 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.97 meters",
+    "closeness rank": 8
+   }
+  },
+  "washer": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.87 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "2.16 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "3.0 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.46 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.68 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.69 meters",
+    "closeness rank": 8
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.26 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.92 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.67 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "3.12 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "3.33 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "3.45 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["tv", "chair", "table", "bed", "refrigerator", "stove", "toilet", "washer", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333899.json b/data/spatial codes/ground truth/explicit/47333899.json
new file mode 100644
index 0000000000000000000000000000000000000000..14f6d99a2ecb4cfb6a57be3bca625b2e68b89a02
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333899.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": {
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.05 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.18 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.66 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "0.67 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.13 meters",
+      "y coordinate": "-0.14 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.0 meters",
+      "y coordinate": "0.43 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "chair": {
+    "distance": "0.69 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "2.41 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.69 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.07 meters",
+    "closeness rank": 4
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.79 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.81 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.9 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "washer": {
+    "distance": "3.35 meters",
+    "closeness rank": 4
+   }
+  },
+  "washer": {
+   "refrigerator": {
+    "distance": "2.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.35 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "3.81 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "chair", "stove", "table", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333918.json b/data/spatial codes/ground truth/explicit/47333918.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb84be7d819ead261408d02266c414e04864e21c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333918.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": {
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.0 meters",
+      "y coordinate": "-0.59 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.02 meters",
+      "y coordinate": "-1.16 meters",
+      "height above floor": "1.98 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.21 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.37 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.04 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "table": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "1.53 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stool", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333932.json b/data/spatial codes/ground truth/explicit/47333932.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cc0bb5aaffb2d3df8528abad3bdb4593a4f328f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333932.json	
@@ -0,0 +1,190 @@
+{
+ "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": "1.09 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.42 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.06 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.47 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.9 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "3.61 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.43 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.7 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bed": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "stool": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.04 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.38 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["chair", "bed", "table", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47333940.json b/data/spatial codes/ground truth/explicit/47333940.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad1a71ac4b5a9da6e500ba9509c7fc97e5431a59
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47333940.json	
@@ -0,0 +1,222 @@
+{
+ "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": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.22 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.39 meters",
+      "y coordinate": "2.61 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.22 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.01 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.65 meters",
+      "y coordinate": "3.55 meters",
+      "height above floor": "0.13 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "2.54 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "4.05 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.5 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.89 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.63 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.87 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.01 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.03 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.92 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334096.json b/data/spatial codes/ground truth/explicit/47334096.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6ea38947a45213d7e7c58797d67c6a99a6082f0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334096.json	
@@ -0,0 +1,316 @@
+{
+ "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": "-0.9 meters",
+      "y coordinate": "5.15 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.29 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-4.16 meters",
+      "y coordinate": "3.99 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.19 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.27 meters",
+      "y coordinate": "5.37 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.54 meters",
+      "y coordinate": "4.9 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "5.47 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "5.09 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.79 meters",
+      "y coordinate": "0.42 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.78 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.79 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-4.2 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "1.17 meters"
+     },
+     "longest dimension": "0.86 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "39.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "0.69 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.69 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.59 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.7 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "1.39 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "3.29 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.69 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.39 meters",
+    "closeness rank": 3
+   },
+   "stove": {
+    "distance": "1.77 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.86 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.7 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.86 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.92 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "4.49 meters",
+    "closeness rank": 5
+   }
+  },
+  "stove": {
+   "chair": {
+    "distance": "0.55 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.69 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.29 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "4.49 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "stool", "sofa", "tv", "stove"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334103.json b/data/spatial codes/ground truth/explicit/47334103.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc79978f863cd5046635e529e6bfb67422b74c6f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334103.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": {
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.01 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.44 meters",
+      "y coordinate": "3.19 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "0.83 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.84 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.83 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "1.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.91 meters",
+      "y coordinate": "-0.78 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.92 meters",
+      "y coordinate": "0.11 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.32 meters",
+      "y coordinate": "0.1 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.68 meters",
+      "y coordinate": "-0.35 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.39 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.65 meters",
+      "y coordinate": "0.88 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "40.9 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "bathtub": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.35 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.67 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "3.76 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "1.61 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.78 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "2.9 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "3.48 meters",
+    "closeness rank": 4
+   },
+   "stool": {
+    "distance": "3.95 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.35 meters",
+    "closeness rank": 3
+   },
+   "bathtub": {
+    "distance": "1.5 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.78 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.76 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.9 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.67 meters",
+    "closeness rank": 4
+   },
+   "bathtub": {
+    "distance": "3.83 meters",
+    "closeness rank": 5
+   }
+  },
+  "bathtub": {
+   "stool": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.5 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "3.48 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "3.83 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.92 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["stool", "tv", "sofa", "chair", "table", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334107.json b/data/spatial codes/ground truth/explicit/47334107.json
new file mode 100644
index 0000000000000000000000000000000000000000..76e6bee47fa3b498e527ca40e2925c77ff749c54
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334107.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": {
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.19 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.89 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.08 meters",
+      "y coordinate": "1.84 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "-1.52 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "2.03 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "17.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "washer": {
+   "toilet": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.61 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.21 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.16 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.68 meters",
+    "closeness rank": 3
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "1.38 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 2
+   },
+   "washer": {
+    "distance": "1.61 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "bathtub": {
+    "distance": "1.56 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "2.21 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.68 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["washer", "toilet", "bathtub", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334117.json b/data/spatial codes/ground truth/explicit/47334117.json
new file mode 100644
index 0000000000000000000000000000000000000000..95deeeaf8ca56d07d9f49a0f71cabd14fb64ac0a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334117.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": {
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.24 meters",
+      "y coordinate": "0.61 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.14 meters",
+      "y coordinate": "-1.95 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.36 meters",
+      "y coordinate": "-2.78 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.8 meters",
+      "y coordinate": "-0.07 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.07 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "24.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "stool": {
+   "bed": {
+    "distance": "1.37 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "3.97 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "5.5 meters",
+    "closeness rank": 3
+   }
+  },
+  "bed": {
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.37 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "3.54 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "bed": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "3.12 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.97 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "3.12 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "3.54 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "5.5 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["stool", "bed", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334238.json b/data/spatial codes/ground truth/explicit/47334238.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8baa4013582ded7be2eb967b08547649d83f86b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334238.json	
@@ -0,0 +1,230 @@
+{
+ "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": "-1.14 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "1.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "3.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.74 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "2.37 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.21 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.6 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "3.36 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "0.94 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.03 meters",
+      "y coordinate": "2.24 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.17 meters",
+      "y coordinate": "1.03 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.1 meters",
+      "y coordinate": "-1.49 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.91 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "chair": {
+    "distance": "0.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.2 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "2.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "2.91 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "3.37 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["table", "chair", "sofa", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334239.json b/data/spatial codes/ground truth/explicit/47334239.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1955dd5dcb5aaae3358d18b0699d0158e3bcb30
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334239.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": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.56 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "0.32 meters"
+     },
+     "longest dimension": "1.65 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.93 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.85 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.11 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "-0.71 meters",
+      "height above floor": "0.2 meters"
+     },
+     "longest dimension": "0.4 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "toilet": {
+    "distance": "1.03 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.44 meters",
+    "closeness rank": 3
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.03 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.08 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.17 meters",
+    "closeness rank": 3
+   }
+  },
+  "stool": {
+   "washer": {
+    "distance": "1.17 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.44 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "2.04 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer", "stool"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334254.json b/data/spatial codes/ground truth/explicit/47334254.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf272d5fa8bd6b1b2d8f41cb02d4ed8e3c8ec037
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334254.json	
@@ -0,0 +1,159 @@
+{
+ "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": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.29 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.41 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.12 meters",
+      "y coordinate": "0.17 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.82 meters",
+      "y coordinate": "0.25 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.15 meters",
+      "y coordinate": "0.45 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.45 meters",
+      "y coordinate": "0.02 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "13.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "chair": {
+    "distance": "1.28 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "1.28 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["stove", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334362.json b/data/spatial codes/ground truth/explicit/47334362.json
new file mode 100644
index 0000000000000000000000000000000000000000..a06f4c18eaf5fa3beb2130b05f17b3061717008f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334362.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": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.22 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.77 meters",
+      "y coordinate": "2.17 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.06 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.5 meters",
+      "y coordinate": "3.28 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "1.11 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-0.77 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "tv": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.35 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "4.24 meters",
+    "closeness rank": 2
+   }
+  },
+  "table": {
+   "sofa": {
+    "distance": "1.35 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "4.24 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["sofa", "tv", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334372.json b/data/spatial codes/ground truth/explicit/47334372.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff24234cf7275115704f9e43a8241f93b009fd6a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334372.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": "-1.1 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.34 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.54 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "7.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.79 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47334380.json b/data/spatial codes/ground truth/explicit/47334380.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce3fa37fbc0610b8d22f3dbbaf2d1f9d908f5be
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47334380.json	
@@ -0,0 +1,182 @@
+{
+ "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": {
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.48 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.63 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.63 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "1.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.15 meters",
+      "y coordinate": "2.6 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.13 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.53 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.11 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "stove": {
+   "table": {
+    "distance": "0.99 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.65 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.67 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.77 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.65 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["stove", "refrigerator", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429904.json b/data/spatial codes/ground truth/explicit/47429904.json
new file mode 100644
index 0000000000000000000000000000000000000000..5213bd95fe7333df9761b77e4a966fcd894dab50
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429904.json	
@@ -0,0 +1,293 @@
+{
+ "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": {
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.87 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.32 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "2.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.13 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.41 meters",
+      "y coordinate": "4.37 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "1.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.24 meters",
+      "y coordinate": "2.06 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.64 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "4.23 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.62 meters",
+      "y coordinate": "4.53 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.47 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 7,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.3 meters",
+      "y coordinate": "1.39 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.79 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.74 meters",
+      "y coordinate": "2.38 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.39 meters",
+      "y coordinate": "2.83 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.27 meters",
+      "y coordinate": "4.63 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.92 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.32 meters",
+      "y coordinate": "5.1 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.92 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "36.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "tv": {
+   "stool": {
+    "distance": "1.3 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.38 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.71 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   }
+  },
+  "sofa": {
+   "stool": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.71 meters",
+    "closeness rank": 4
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.13 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.16 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.16 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.33 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "1.79 meters",
+    "closeness rank": 4
+   }
+  }
+ },
+ "appearance order": ["tv", "sofa", "table", "stool", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429912.json b/data/spatial codes/ground truth/explicit/47429912.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce461feff2384c72fa09d955dd536e216a4c22cf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429912.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": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.81 meters",
+      "y coordinate": "1.88 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.53 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.93 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.45 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["toilet", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429977.json b/data/spatial codes/ground truth/explicit/47429977.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b20d320845693bc1e212fc5c7603a36574c901c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429977.json	
@@ -0,0 +1,379 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "2.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.43 meters",
+      "y coordinate": "1.92 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.54 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.5 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.58 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.52 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.45 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.48 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "0.64 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.96 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.97 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.16 meters",
+      "y coordinate": "1.55 meters",
+      "height above floor": "0.88 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.07 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "1.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "19.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "stool": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.62 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "tv": {
+    "distance": "0.82 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.09 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "1.27 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.4 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.33 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "stool": {
+    "distance": "0.4 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.82 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "2.83 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "3.36 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "stove": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "0.97 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.09 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "1.22 meters",
+    "closeness rank": 5
+   },
+   "stool": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.95 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "2.33 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "2.62 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.36 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "stove": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.97 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.27 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "1.47 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.83 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "stool", "tv", "chair", "stove", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429992.json b/data/spatial codes/ground truth/explicit/47429992.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b064ab7ba5ea798a58a740a1936771b5694636
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429992.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": {
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.26 meters",
+      "y coordinate": "4.08 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.38 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.68 meters",
+      "y coordinate": "4.19 meters",
+      "height above floor": "0.96 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.76 meters",
+      "y coordinate": "3.42 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.0 meters",
+      "y coordinate": "3.68 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "16.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "tv": {
+    "distance": "0.27 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["table", "tv", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47429998.json b/data/spatial codes/ground truth/explicit/47429998.json
new file mode 100644
index 0000000000000000000000000000000000000000..47554506c79ba2200d9b570ededfbf00d3e1e173
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47429998.json	
@@ -0,0 +1,80 @@
+{
+ "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": "3.1 meters",
+      "y coordinate": "-0.22 meters",
+      "height above floor": "0.33 meters"
+     },
+     "longest dimension": "2.21 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "9.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430007.json b/data/spatial codes/ground truth/explicit/47430007.json
new file mode 100644
index 0000000000000000000000000000000000000000..249e9fd57a2509da52958aaf7f51799f91c55fba
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430007.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": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "0.55 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.51 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.78 meters",
+      "y coordinate": "-0.82 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "bathtub": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.51 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.89 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "toilet", "washer"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430023.json b/data/spatial codes/ground truth/explicit/47430023.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1148b7546967aba78b91bc6566c4053ac38b184
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430023.json	
@@ -0,0 +1,230 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.0 meters",
+      "y coordinate": "-2.28 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.03 meters",
+      "y coordinate": "-1.91 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.75 meters",
+      "y coordinate": "-1.28 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.4 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.39 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.58 meters",
+      "y coordinate": "-1.7 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.26 meters",
+      "y coordinate": "-0.74 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-3.16 meters",
+      "y coordinate": "-1.41 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.95 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "-1.17 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.62 meters",
+      "y coordinate": "-0.93 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.57 meters",
+      "y coordinate": "0.99 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.13 meters",
+      "y coordinate": "-1.47 meters",
+      "height above floor": "1.4 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "chair": {
+    "distance": "0.37 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "1.82 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.37 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.48 meters",
+    "closeness rank": 3
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.82 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "2.31 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "chair", "tv"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430034.json b/data/spatial codes/ground truth/explicit/47430034.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c5434c978beb1d455ef413f7b809e8d2a2accb4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430034.json	
@@ -0,0 +1,316 @@
+{
+ "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": "1.68 meters",
+      "y coordinate": "-1.01 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.85 meters",
+      "y coordinate": "-0.25 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.08 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.64 meters",
+      "y coordinate": "-1.02 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.82 meters",
+      "y coordinate": "-0.29 meters",
+      "height above floor": "0.24 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.71 meters",
+      "y coordinate": "1.77 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.82 meters",
+      "y coordinate": "1.56 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.34 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-2.34 meters",
+      "y coordinate": "-0.72 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.23 meters",
+      "y coordinate": "-0.49 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.49 meters",
+      "y coordinate": "-1.22 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "2.3 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "25.6 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.07 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.75 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "2.42 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.06 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.41 meters",
+    "closeness rank": 5
+   }
+  },
+  "stool": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.12 meters",
+    "closeness rank": 5
+   }
+  },
+  "tv": {
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.42 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.12 meters",
+    "closeness rank": 4
+   },
+   "sofa": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.44 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.81 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.55 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "1.75 meters",
+    "closeness rank": 5
+   }
+  },
+  "sofa": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.06 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.44 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.47 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["bed", "table", "stool", "tv", "chair", "sofa"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430038.json b/data/spatial codes/ground truth/explicit/47430038.json
new file mode 100644
index 0000000000000000000000000000000000000000..a85877505914b456f47278527381738d3a716c1a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430038.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": "0.51 meters",
+      "y coordinate": "2.66 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.68 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.15 meters",
+      "y coordinate": "0.37 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.58 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.04 meters",
+      "y coordinate": "2.78 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.72 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "3.38 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.81 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.26 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "3.07 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "refrigerator": {
+   "table": {
+    "distance": "0.63 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.55 meters",
+    "closeness rank": 3
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "1.55 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.64 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.63 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.79 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.72 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.64 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["refrigerator", "stove", "table", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430048.json b/data/spatial codes/ground truth/explicit/47430048.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5de35ea34ff2d811d04fffa80c871bd3817f7c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430048.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": {
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.65 meters",
+      "y coordinate": "3.13 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.35 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.81 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "1.02 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "0.74 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "8.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "bathtub": {
+   "washer": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "bathtub": {
+    "distance": "0.3 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   }
+  },
+  "toilet": {
+   "washer": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["bathtub", "washer", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430422.json b/data/spatial codes/ground truth/explicit/47430422.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f7167713a617eb3f41073a51df69f15583549c
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430422.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": {
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.03 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "washer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.86 meters",
+      "y coordinate": "-0.5 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.83 meters"
+    }
+   ]
+  },
+  "bathtub": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.44 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "0.28 meters"
+     },
+     "longest dimension": "1.49 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "12.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "toilet": {
+   "bathtub": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "0.84 meters",
+    "closeness rank": 2
+   }
+  },
+  "washer": {
+   "toilet": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "bathtub": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  },
+  "bathtub": {
+   "toilet": {
+    "distance": "0.24 meters",
+    "closeness rank": 1
+   },
+   "washer": {
+    "distance": "1.48 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["toilet", "washer", "bathtub"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430468.json b/data/spatial codes/ground truth/explicit/47430468.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab790e3181c7fc93c1629cf0db2b3153c5e470aa
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430468.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": {
+  "sofa": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.43 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "2.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.33 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-1.52 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.35 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.25 meters",
+      "y coordinate": "0.03 meters",
+      "height above floor": "0.23 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.08 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.61 meters",
+      "y coordinate": "-0.95 meters",
+      "height above floor": "1.21 meters"
+     },
+     "longest dimension": "1.0 meters"
+    }
+   ]
+  },
+  "stool": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-1.61 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-0.21 meters",
+      "y coordinate": "2.95 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.29 meters",
+      "y coordinate": "2.92 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.68 meters",
+      "y coordinate": "3.53 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "1.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "-0.42 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "1.01 meters"
+    }
+   ]
+  },
+  "stove": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-3.05 meters",
+      "y coordinate": "3.78 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "0.59 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "-2.42 meters",
+      "y coordinate": "1.28 meters",
+      "height above floor": "1.03 meters"
+     },
+     "longest dimension": "2.01 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "38.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "sofa": {
+   "stool": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "1.94 meters",
+    "closeness rank": 6
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.71 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.91 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "2.22 meters",
+    "closeness rank": 6
+   }
+  },
+  "tv": {
+   "sofa": {
+    "distance": "0.58 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.71 meters",
+    "closeness rank": 2
+   },
+   "refrigerator": {
+    "distance": "2.84 meters",
+    "closeness rank": 3
+   },
+   "stool": {
+    "distance": "3.16 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "3.51 meters",
+    "closeness rank": 5
+   },
+   "stove": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "stool": {
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.26 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "1.87 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.16 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.56 meters",
+    "closeness rank": 2
+   },
+   "stool": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "1.94 meters",
+    "closeness rank": 4
+   },
+   "stove": {
+    "distance": "2.11 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "3.51 meters",
+    "closeness rank": 6
+   }
+  },
+  "stove": {
+   "refrigerator": {
+    "distance": "1.85 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "1.87 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "1.94 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "2.11 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "2.22 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "5.24 meters",
+    "closeness rank": 6
+   }
+  },
+  "refrigerator": {
+   "sofa": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "stool": {
+    "distance": "0.31 meters",
+    "closeness rank": 2
+   },
+   "stove": {
+    "distance": "1.85 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "2.84 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["sofa", "table", "tv", "stool", "chair", "stove", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/47430475.json b/data/spatial codes/ground truth/explicit/47430475.json
new file mode 100644
index 0000000000000000000000000000000000000000..58db79e008b00bb732a205a9ab3ba8cd1354f6ce
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/47430475.json	
@@ -0,0 +1,80 @@
+{
+ "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": "0.3 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "bed": {}
+ },
+ "appearance order": ["bed"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5748ce6f01.json b/data/spatial codes/ground truth/explicit/5748ce6f01.json
new file mode 100644
index 0000000000000000000000000000000000000000..19c3d933284d780f88cc07d78411af9a477e25cf
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5748ce6f01.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": {
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "1.54 meters"
+     },
+     "longest dimension": "2.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.91 meters",
+      "y coordinate": "3.83 meters",
+      "height above floor": "1.69 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "3.18 meters"
+     },
+     "longest dimension": "2.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.05 meters",
+      "y coordinate": "2.16 meters",
+      "height above floor": "2.78 meters"
+     },
+     "longest dimension": "2.44 meters"
+    }
+   ]
+  },
+  "cup": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "2.09 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.48 meters",
+      "y coordinate": "1.32 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.94 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "3.3 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.69 meters",
+      "y coordinate": "2.31 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.88 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.19 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.06 meters",
+      "y coordinate": "1.45 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.93 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.12 meters",
+      "y coordinate": "1.25 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "2.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "2.73 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.6 meters",
+      "y coordinate": "2.35 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.88 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "15.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "whiteboard": {
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.83 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "1.63 meters",
+    "closeness rank": 5
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.83 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.73 meters",
+    "closeness rank": 3
+   },
+   "cup": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "1.63 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.87 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.34 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "ceiling light": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.81 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.86 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "2.01 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "cup": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.95 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.94 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "ceiling light", "cup", "chair", "door", "table"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/578511c8a9.json b/data/spatial codes/ground truth/explicit/578511c8a9.json
new file mode 100644
index 0000000000000000000000000000000000000000..87d7b5d08f169122cb62e8c03936683b3b7b985e
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/578511c8a9.json	
@@ -0,0 +1,1748 @@
+{
+ "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": 19,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.74 meters",
+      "y coordinate": "6.34 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.14 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.4 meters",
+      "y coordinate": "7.69 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.97 meters",
+      "y coordinate": "4.84 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.74 meters",
+      "y coordinate": "6.05 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.1 meters",
+      "y coordinate": "7.67 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.82 meters",
+      "y coordinate": "4.29 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.16 meters",
+      "y coordinate": "1.49 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "2.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.32 meters",
+      "y coordinate": "8.73 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.84 meters",
+      "y coordinate": "6.5 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.74 meters",
+      "y coordinate": "6.68 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.88 meters",
+      "y coordinate": "6.02 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "3.04 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.46 meters",
+      "y coordinate": "3.94 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.3 meters",
+      "y coordinate": "4.59 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.78 meters",
+      "y coordinate": "6.56 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.2 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "6.02 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.55 meters",
+      "y coordinate": "8.45 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.82 meters",
+      "y coordinate": "0.94 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "2.0 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.49 meters",
+      "y coordinate": "0.28 meters",
+      "height above floor": "3.18 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 16,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "11.94 meters",
+      "y coordinate": "6.74 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.88 meters",
+      "y coordinate": "8.49 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "11.89 meters",
+      "y coordinate": "7.83 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "12.1 meters",
+      "y coordinate": "6.2 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.12 meters",
+      "y coordinate": "5.19 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.91 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.42 meters",
+      "y coordinate": "7.53 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.85 meters",
+      "y coordinate": "7.4 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.95 meters",
+      "y coordinate": "6.76 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.02 meters",
+      "y coordinate": "6.21 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.57 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.73 meters",
+      "y coordinate": "5.5 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.78 meters",
+      "y coordinate": "4.43 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.97 meters",
+      "y coordinate": "5.56 meters",
+      "height above floor": "1.33 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.83 meters",
+      "y coordinate": "6.22 meters",
+      "height above floor": "1.32 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.63 meters",
+      "y coordinate": "6.78 meters",
+      "height above floor": "1.31 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 10,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.4 meters",
+      "y coordinate": "5.02 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
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+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.82 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.1 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.23 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "2.76 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "3.31 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "3.71 meters",
+    "closeness rank": 13
+   }
+  },
+  "whiteboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "kettle": {
+    "distance": "0.11 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "0.51 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.54 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "1.1 meters",
+    "closeness rank": 8
+   },
+   "exhaust fan": {
+    "distance": "1.17 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.3 meters",
+    "closeness rank": 10
+   },
+   "computer mouse": {
+    "distance": "1.39 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "2.6 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "6.03 meters",
+    "closeness rank": 13
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.46 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.86 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "2.23 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "2.32 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "2.32 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "2.5 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "6.03 meters",
+    "closeness rank": 8
+   },
+   "printer": {
+    "distance": "7.88 meters",
+    "closeness rank": 9
+   },
+   "kettle": {
+    "distance": "8.3 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "8.4 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "8.4 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "9.38 meters",
+    "closeness rank": 13
+   }
+  },
+  "chair": {
+   "computer tower": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "0.29 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.46 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "0.47 meters",
+    "closeness rank": 9
+   },
+   "printer": {
+    "distance": "0.48 meters",
+    "closeness rank": 10
+   },
+   "kettle": {
+    "distance": "1.11 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "2.33 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.32 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.39 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.57 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.17 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "3.33 meters",
+    "closeness rank": 10
+   },
+   "printer": {
+    "distance": "3.6 meters",
+    "closeness rank": 11
+   },
+   "kettle": {
+    "distance": "4.19 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "4.46 meters",
+    "closeness rank": 13
+   }
+  },
+  "kettle": {
+   "whiteboard": {
+    "distance": "0.11 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.11 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.8 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "2.39 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.78 meters",
+    "closeness rank": 8
+   },
+   "computer tower": {
+    "distance": "3.31 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "4.19 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "8.3 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "11.25 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "12.07 meters",
+    "closeness rank": 13
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.11 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.82 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.57 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "2.15 meters",
+    "closeness rank": 8
+   },
+   "kettle": {
+    "distance": "2.39 meters",
+    "closeness rank": 9
+   },
+   "whiteboard": {
+    "distance": "2.6 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "8.4 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "9.18 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "9.85 meters",
+    "closeness rank": 13
+   }
+  },
+  "printer": {
+   "table": {
+    "distance": "0.01 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.48 meters",
+    "closeness rank": 2
+   },
+   "kettle": {
+    "distance": "0.5 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.51 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.72 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.15 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.74 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.84 meters",
+    "closeness rank": 8
+   },
+   "computer tower": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "computer mouse": {
+    "distance": "3.6 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "7.88 meters",
+    "closeness rank": 11
+   },
+   "table lamp": {
+    "distance": "10.43 meters",
+    "closeness rank": 12
+   },
+   "exhaust fan": {
+    "distance": "11.17 meters",
+    "closeness rank": 13
+   }
+  },
+  "ceiling light": {
+   "exhaust fan": {
+    "distance": "0.53 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "1.07 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.56 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.74 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "1.84 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "1.86 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "1.87 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.15 meters",
+    "closeness rank": 10
+   },
+   "keyboard": {
+    "distance": "2.17 meters",
+    "closeness rank": 11
+   },
+   "computer mouse": {
+    "distance": "2.17 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "2.78 meters",
+    "closeness rank": 13
+   }
+  },
+  "table lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.14 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.75 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.95 meters",
+    "closeness rank": 7
+   },
+   "computer tower": {
+    "distance": "2.37 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "3.33 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "8.4 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "9.18 meters",
+    "closeness rank": 11
+   },
+   "printer": {
+    "distance": "10.43 meters",
+    "closeness rank": 12
+   },
+   "kettle": {
+    "distance": "11.25 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "table lamp", "table", "exhaust fan", "chair", "computer tower", "ceiling light", "monitor", "keyboard", "door", "computer mouse", "telephone", "printer", "kettle"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5942004064.json b/data/spatial codes/ground truth/explicit/5942004064.json
new file mode 100644
index 0000000000000000000000000000000000000000..d46488bb0c5cadece6aae7e94e79cb4214b30f35
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5942004064.json	
@@ -0,0 +1,989 @@
+{
+ "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": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "3.37 meters",
+      "height above floor": "1.25 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.71 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.76 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "2.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.62 meters",
+      "y coordinate": "1.05 meters",
+      "height above floor": "1.26 meters"
+     },
+     "longest dimension": "2.05 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.37 meters",
+      "y coordinate": "3.47 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "2.36 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.05 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.18 meters",
+      "y coordinate": "3.43 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.52 meters",
+      "y coordinate": "3.62 meters",
+      "height above floor": "0.8 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "0.51 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.39 meters",
+      "y coordinate": "0.68 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.75 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.93 meters",
+      "y coordinate": "2.5 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.92 meters",
+      "y coordinate": "1.8 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "0.72 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.65 meters",
+      "y coordinate": "2.8 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.89 meters"
+    }
+   ]
+  },
+  "basket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.8 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "0.36 meters"
+     },
+     "longest dimension": "0.35 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "2.18 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.3 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "plant": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.08 meters",
+      "y coordinate": "3.67 meters",
+      "height above floor": "1.34 meters"
+     },
+     "longest dimension": "1.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.14 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "1.44 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.31 meters",
+      "y coordinate": "0.75 meters",
+      "height above floor": "1.15 meters"
+     },
+     "longest dimension": "0.19 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.74 meters",
+      "y coordinate": "2.27 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.54 meters",
+      "y coordinate": "2.86 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "0.99 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.56 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "1.24 meters"
+     },
+     "longest dimension": "0.66 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.71 meters",
+      "y coordinate": "0.49 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.48 meters",
+      "y coordinate": "2.52 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.06 meters",
+      "y coordinate": "2.1 meters",
+      "height above floor": "2.62 meters"
+     },
+     "longest dimension": "0.56 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.9 meters",
+      "y coordinate": "1.58 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.89 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "26.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "basket": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.09 meters",
+    "closeness rank": 2
+   },
+   "toilet": {
+    "distance": "0.25 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.29 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.67 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "0.83 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "0.92 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "1.03 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.15 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.27 meters",
+    "closeness rank": 11
+   },
+   "sofa": {
+    "distance": "1.92 meters",
+    "closeness rank": 12
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.04 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "0.31 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.47 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.56 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "1.67 meters",
+    "closeness rank": 8
+   },
+   "bed": {
+    "distance": "1.68 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.92 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.5 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "4.16 meters",
+    "closeness rank": 12
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.25 meters",
+    "closeness rank": 1
+   },
+   "basket": {
+    "distance": "0.58 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.7 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.95 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.03 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "1.55 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "2.92 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "3.03 meters",
+    "closeness rank": 8
+   },
+   "table": {
+    "distance": "3.1 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "4.01 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "4.16 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "4.46 meters",
+    "closeness rank": 12
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.09 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.36 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.43 meters",
+    "closeness rank": 7
+   },
+   "chair": {
+    "distance": "0.6 meters",
+    "closeness rank": 8
+   },
+   "basket": {
+    "distance": "0.62 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "1.03 meters",
+    "closeness rank": 10
+   },
+   "toilet": {
+    "distance": "1.55 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "1.8 meters",
+    "closeness rank": 12
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.29 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.31 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.6 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.15 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.24 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "ceiling light": {
+    "distance": "1.51 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "1.93 meters",
+    "closeness rank": 9
+   },
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.67 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "4.46 meters",
+    "closeness rank": 12
+   }
+  },
+  "heater": {
+   "basket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "pillow": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.09 meters",
+    "closeness rank": 4
+   },
+   "plant": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "0.12 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "0.19 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "0.58 meters",
+    "closeness rank": 8
+   },
+   "toilet": {
+    "distance": "0.7 meters",
+    "closeness rank": 9
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 10
+   },
+   "tv": {
+    "distance": "2.49 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.66 meters",
+    "closeness rank": 12
+   }
+  },
+  "basket": {
+   "heater": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "0.18 meters",
+    "closeness rank": 4
+   },
+   "toilet": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "pillow": {
+    "distance": "0.62 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "2.15 meters",
+    "closeness rank": 7
+   },
+   "plant": {
+    "distance": "2.16 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.72 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "3.38 meters",
+    "closeness rank": 10
+   },
+   "sofa": {
+    "distance": "3.5 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "3.67 meters",
+    "closeness rank": 12
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.12 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.29 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "0.95 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.68 meters",
+    "closeness rank": 10
+   },
+   "ceiling light": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 12
+   }
+  },
+  "tv": {
+   "plant": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.43 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.67 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.33 meters",
+    "closeness rank": 5
+   },
+   "blanket": {
+    "distance": "1.45 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "1.45 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "1.55 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "1.76 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "2.49 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.72 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "2.92 meters",
+    "closeness rank": 12
+   }
+  },
+  "plant": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "tv": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.11 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.29 meters",
+    "closeness rank": 6
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 7
+   },
+   "blanket": {
+    "distance": "0.49 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "0.84 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.16 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "3.03 meters",
+    "closeness rank": 12
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "plant": {
+    "distance": "0.07 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "0.36 meters",
+    "closeness rank": 4
+   },
+   "bed": {
+    "distance": "0.39 meters",
+    "closeness rank": 5
+   },
+   "blanket": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.58 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "0.83 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.55 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "1.64 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "2.15 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "3.1 meters",
+    "closeness rank": 12
+   }
+  },
+  "ceiling light": {
+   "plant": {
+    "distance": "0.84 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.27 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "1.56 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.64 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.76 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "bed": {
+    "distance": "1.93 meters",
+    "closeness rank": 8
+   },
+   "blanket": {
+    "distance": "2.0 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "2.66 meters",
+    "closeness rank": 10
+   },
+   "basket": {
+    "distance": "3.38 meters",
+    "closeness rank": 11
+   },
+   "toilet": {
+    "distance": "4.01 meters",
+    "closeness rank": 12
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "basket": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.19 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.38 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "0.41 meters",
+    "closeness rank": 6
+   },
+   "plant": {
+    "distance": "0.49 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "1.03 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "1.67 meters",
+    "closeness rank": 10
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.0 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["toilet", "door", "basket", "pillow", "blanket", "bed", "tv", "table", "sofa", "plant", "chair", "ceiling light", "heater"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5eb31827b7.json b/data/spatial codes/ground truth/explicit/5eb31827b7.json
new file mode 100644
index 0000000000000000000000000000000000000000..bff471c432d4a17659b0841fbf6134a4fbb647e6
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5eb31827b7.json	
@@ -0,0 +1,870 @@
+{
+ "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": {
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.03 meters",
+      "y coordinate": "0.26 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "0.09 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.77 meters",
+      "y coordinate": "0.15 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "1.2 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.57 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.5 meters",
+      "y coordinate": "1.71 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "bookshelf": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.76 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.73 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.46 meters",
+      "y coordinate": "1.87 meters",
+      "height above floor": "1.1 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.31 meters",
+      "y coordinate": "1.73 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.36 meters",
+      "y coordinate": "1.94 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.72 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "1.07 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "0.2 meters",
+      "height above floor": "0.3 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "1.18 meters"
+     },
+     "longest dimension": "0.55 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.48 meters",
+      "y coordinate": "2.03 meters",
+      "height above floor": "0.86 meters"
+     },
+     "longest dimension": "0.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.38 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.06 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.26 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.21 meters"
+     },
+     "longest dimension": "0.36 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.34 meters",
+      "y coordinate": "1.33 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.71 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.25 meters",
+      "y coordinate": "2.42 meters",
+      "height above floor": "0.19 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.76 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "2.13 meters"
+    }
+   ]
+  },
+  "laptop": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.54 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.93 meters"
+     },
+     "longest dimension": "0.39 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.55 meters",
+      "y coordinate": "2.29 meters",
+      "height above floor": "0.83 meters"
+     },
+     "longest dimension": "0.24 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.58 meters",
+      "y coordinate": "1.59 meters",
+      "height above floor": "0.84 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.38 meters",
+      "y coordinate": "1.47 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.67 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.04 meters",
+      "y coordinate": "0.7 meters",
+      "height above floor": "0.05 meters"
+     },
+     "longest dimension": "0.2 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "14.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "whiteboard": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.74 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.78 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.81 meters",
+    "closeness rank": 7
+   },
+   "bookshelf": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.22 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.1 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "3.93 meters",
+    "closeness rank": 11
+   }
+  },
+  "table": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.54 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.23 meters",
+    "closeness rank": 9
+   },
+   "heater": {
+    "distance": "1.37 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "1.73 meters",
+    "closeness rank": 11
+   }
+  },
+  "bookshelf": {
+   "trash can": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.33 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.54 meters",
+    "closeness rank": 3
+   },
+   "laptop": {
+    "distance": "0.79 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.06 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.07 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "1.61 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.99 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.26 meters",
+    "closeness rank": 11
+   }
+  },
+  "monitor": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "laptop": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.17 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "0.43 meters",
+    "closeness rank": 6
+   },
+   "computer tower": {
+    "distance": "0.55 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "0.72 meters",
+    "closeness rank": 8
+   },
+   "heater": {
+    "distance": "0.98 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.06 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "1.38 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer mouse": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "trash can": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "computer tower": {
+    "distance": "0.87 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.02 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.72 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "2.22 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "2.32 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "2.79 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "2.87 meters",
+    "closeness rank": 11
+   }
+  },
+  "computer tower": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.55 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "0.82 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.87 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "laptop": {
+    "distance": "1.91 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.04 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "3.93 meters",
+    "closeness rank": 8
+   },
+   "bookshelf": {
+    "distance": "4.26 meters",
+    "closeness rank": 9
+   },
+   "telephone": {
+    "distance": "4.56 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "trash can": {
+   "computer tower": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "heater": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "bookshelf": {
+    "distance": "0.06 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.43 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "0.99 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.11 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.45 meters",
+    "closeness rank": 9
+   },
+   "keyboard": {
+    "distance": "1.5 meters",
+    "closeness rank": 10
+   },
+   "whiteboard": {
+    "distance": "1.81 meters",
+    "closeness rank": 11
+   }
+  },
+  "door": {
+   "computer tower": {
+    "distance": "0.82 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.99 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.23 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "1.38 meters",
+    "closeness rank": 4
+   },
+   "laptop": {
+    "distance": "1.43 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "1.72 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "2.55 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "3.1 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "3.81 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "4.04 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "laptop": {
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.17 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.3 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "0.79 meters",
+    "closeness rank": 5
+   },
+   "trash can": {
+    "distance": "1.41 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.43 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.78 meters",
+    "closeness rank": 9
+   },
+   "computer tower": {
+    "distance": "1.91 meters",
+    "closeness rank": 10
+   },
+   "telephone": {
+    "distance": "2.08 meters",
+    "closeness rank": 11
+   }
+  },
+  "keyboard": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.17 meters",
+    "closeness rank": 2
+   },
+   "laptop": {
+    "distance": "0.3 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "1.02 meters",
+    "closeness rank": 4
+   },
+   "bookshelf": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "1.28 meters",
+    "closeness rank": 6
+   },
+   "trash can": {
+    "distance": "1.5 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.59 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "1.69 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "2.55 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "3.04 meters",
+    "closeness rank": 11
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "bookshelf": {
+    "distance": "0.33 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "0.98 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "1.37 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.59 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "1.62 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.87 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "4.08 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.82 meters",
+    "closeness rank": 11
+   }
+  },
+  "telephone": {
+   "heater": {
+    "distance": "0.18 meters",
+    "closeness rank": 1
+   },
+   "whiteboard": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.12 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.45 meters",
+    "closeness rank": 5
+   },
+   "bookshelf": {
+    "distance": "1.61 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "laptop": {
+    "distance": "2.08 meters",
+    "closeness rank": 8
+   },
+   "computer mouse": {
+    "distance": "2.79 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.81 meters",
+    "closeness rank": 10
+   },
+   "computer tower": {
+    "distance": "4.56 meters",
+    "closeness rank": 11
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "table", "bookshelf", "monitor", "computer mouse", "computer tower", "trash can", "door", "laptop", "keyboard", "heater", "telephone"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/5f99900f09.json b/data/spatial codes/ground truth/explicit/5f99900f09.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc9904b4990fb72a7ac98043478137ba7582d9d4
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/5f99900f09.json	
@@ -0,0 +1,745 @@
+{
+ "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": "0.39 meters",
+      "y coordinate": "4.99 meters",
+      "height above floor": "1.36 meters"
+     },
+     "longest dimension": "2.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "5.58 meters",
+      "height above floor": "1.37 meters"
+     },
+     "longest dimension": "2.71 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 11,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.67 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.08 meters",
+      "y coordinate": "3.97 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.41 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "2.48 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.43 meters",
+      "y coordinate": "4.17 meters",
+      "height above floor": "0.25 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.62 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.6 meters",
+      "y coordinate": "4.32 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.91 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.98 meters",
+      "y coordinate": "1.08 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.43 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.11 meters",
+      "y coordinate": "2.18 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.42 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.37 meters",
+      "y coordinate": "3.22 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.45 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.9 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.29 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.82 meters",
+      "y coordinate": "0.72 meters",
+      "height above floor": "0.94 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.29 meters",
+      "y coordinate": "0.89 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.41 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "0.85 meters",
+      "height above floor": "1.3 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.2 meters",
+      "y coordinate": "1.16 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "suitcase": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.34 meters",
+      "y coordinate": "4.5 meters",
+      "height above floor": "0.12 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 14,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "2.45 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.44 meters",
+      "y coordinate": "3.44 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.74 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.82 meters",
+      "y coordinate": "4.8 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.91 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.36 meters",
+      "y coordinate": "1.35 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.22 meters",
+      "y coordinate": "3.9 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.35 meters",
+      "y coordinate": "2.99 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.73 meters",
+      "y coordinate": "2.55 meters",
+      "height above floor": "0.51 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.27 meters",
+      "y coordinate": "1.06 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.3 meters",
+      "y coordinate": "1.63 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.08 meters",
+      "y coordinate": "4.14 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.12 meters",
+      "y coordinate": "1.0 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.39 meters",
+      "y coordinate": "0.96 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "0.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.15 meters",
+      "y coordinate": "4.58 meters",
+      "height above floor": "0.5 meters"
+     },
+     "longest dimension": "0.98 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.18 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.08 meters",
+      "y coordinate": "0.46 meters",
+      "height above floor": "1.64 meters"
+     },
+     "longest dimension": "1.85 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.13 meters",
+      "y coordinate": "1.48 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "1.28 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "8.24 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "3.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.19 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "3.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.97 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "3.12 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.21 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.89 meters",
+      "y coordinate": "1.9 meters",
+      "height above floor": "2.79 meters"
+     },
+     "longest dimension": "1.21 meters"
+    }
+   ]
+  },
+  "refrigerator": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.68 meters",
+      "y coordinate": "5.0 meters",
+      "height above floor": "0.85 meters"
+     },
+     "longest dimension": "1.69 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "54.4 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "ceiling light": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.78 meters",
+    "closeness rank": 2
+   },
+   "suitcase": {
+    "distance": "0.9 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "refrigerator": {
+    "distance": "2.79 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "4.39 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "5.14 meters",
+    "closeness rank": 8
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "whiteboard": {
+    "distance": "0.5 meters",
+    "closeness rank": 4
+   },
+   "refrigerator": {
+    "distance": "1.01 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.48 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "1.73 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "1.9 meters",
+    "closeness rank": 8
+   }
+  },
+  "printer": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "ceiling light": {
+    "distance": "1.32 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "3.1 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.51 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.55 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "5.14 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "0.57 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.99 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.34 meters",
+    "closeness rank": 4
+   },
+   "whiteboard": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.11 meters",
+    "closeness rank": 6
+   },
+   "refrigerator": {
+    "distance": "3.38 meters",
+    "closeness rank": 7
+   },
+   "door": {
+    "distance": "4.39 meters",
+    "closeness rank": 8
+   }
+  },
+  "suitcase": {
+   "door": {
+    "distance": "0.9 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "1.54 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.69 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.9 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "2.58 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   },
+   "monitor": {
+    "distance": "3.11 meters",
+    "closeness rank": 7
+   },
+   "printer": {
+    "distance": "3.51 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "printer": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.23 meters",
+    "closeness rank": 3
+   },
+   "refrigerator": {
+    "distance": "0.68 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.78 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.34 meters",
+    "closeness rank": 6
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "1.69 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "chair": {
+    "distance": "0.23 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   },
+   "suitcase": {
+    "distance": "3.03 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "3.1 meters",
+    "closeness rank": 7
+   },
+   "refrigerator": {
+    "distance": "5.17 meters",
+    "closeness rank": 8
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.54 meters",
+    "closeness rank": 1
+   },
+   "refrigerator": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "whiteboard": {
+    "distance": "0.98 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.99 meters",
+    "closeness rank": 4
+   },
+   "printer": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "table": {
+    "distance": "1.48 meters",
+    "closeness rank": 7
+   },
+   "suitcase": {
+    "distance": "2.58 meters",
+    "closeness rank": 8
+   }
+  },
+  "refrigerator": {
+   "chair": {
+    "distance": "0.68 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "0.74 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 3
+   },
+   "suitcase": {
+    "distance": "1.54 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "2.79 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "3.38 meters",
+    "closeness rank": 6
+   },
+   "printer": {
+    "distance": "3.55 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "5.17 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["whiteboard", "table", "chair", "ceiling light", "suitcase", "door", "printer", "monitor", "refrigerator"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/6115eddb86.json b/data/spatial codes/ground truth/explicit/6115eddb86.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a8bacb76cc123c4f0bb4178a5827c1c9804f4d
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/6115eddb86.json	
@@ -0,0 +1,719 @@
+{
+ "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": "1.3 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.75 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.76 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.91 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.13 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.28 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "1.08 meters"
+     },
+     "longest dimension": "2.16 meters"
+    }
+   ]
+  },
+  "tv": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.65 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "1.43 meters"
+     },
+     "longest dimension": "0.84 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.01 meters",
+      "y coordinate": "0.38 meters",
+      "height above floor": "0.9 meters"
+     },
+     "longest dimension": "0.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.86 meters",
+      "y coordinate": "0.92 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.02 meters",
+      "y coordinate": "3.05 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.78 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "table lamp": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.87 meters",
+      "y coordinate": "0.8 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "pillow": {
+   "count": 5,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.57 meters",
+      "y coordinate": "2.88 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.4 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.13 meters",
+      "y coordinate": "3.77 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.69 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "3.51 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.17 meters",
+      "y coordinate": "3.77 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.69 meters"
+    }
+   ]
+  },
+  "bed": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.69 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  },
+  "blanket": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.7 meters",
+      "y coordinate": "2.3 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "2.14 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "22.8 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.42 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "0.45 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "0.88 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.02 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.24 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "2.74 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "4.37 meters",
+    "closeness rank": 10
+   }
+  },
+  "sofa": {
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "bed": {
+    "distance": "0.47 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.86 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.47 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.93 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "4.68 meters",
+    "closeness rank": 10
+   }
+  },
+  "door": {
+   "tv": {
+    "distance": "1.34 meters",
+    "closeness rank": 1
+   },
+   "toilet": {
+    "distance": "1.4 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "1.59 meters",
+    "closeness rank": 3
+   },
+   "blanket": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "2.74 meters",
+    "closeness rank": 5
+   },
+   "table": {
+    "distance": "3.0 meters",
+    "closeness rank": 6
+   },
+   "pillow": {
+    "distance": "3.02 meters",
+    "closeness rank": 7
+   },
+   "telephone": {
+    "distance": "3.25 meters",
+    "closeness rank": 8
+   },
+   "table lamp": {
+    "distance": "3.46 meters",
+    "closeness rank": 9
+   },
+   "sofa": {
+    "distance": "3.93 meters",
+    "closeness rank": 10
+   }
+  },
+  "tv": {
+   "chair": {
+    "distance": "0.88 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.92 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "1.08 meters",
+    "closeness rank": 3
+   },
+   "table lamp": {
+    "distance": "1.31 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.34 meters",
+    "closeness rank": 5
+   },
+   "bed": {
+    "distance": "1.41 meters",
+    "closeness rank": 6
+   },
+   "blanket": {
+    "distance": "1.52 meters",
+    "closeness rank": 7
+   },
+   "sofa": {
+    "distance": "2.46 meters",
+    "closeness rank": 8
+   },
+   "pillow": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "3.6 meters",
+    "closeness rank": 10
+   }
+  },
+  "telephone": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.05 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.08 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.47 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.58 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.25 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "5.16 meters",
+    "closeness rank": 10
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "1.4 meters",
+    "closeness rank": 1
+   },
+   "blanket": {
+    "distance": "2.06 meters",
+    "closeness rank": 2
+   },
+   "bed": {
+    "distance": "2.07 meters",
+    "closeness rank": 3
+   },
+   "pillow": {
+    "distance": "2.36 meters",
+    "closeness rank": 4
+   },
+   "tv": {
+    "distance": "3.6 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "4.37 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "4.68 meters",
+    "closeness rank": 7
+   },
+   "table": {
+    "distance": "4.83 meters",
+    "closeness rank": 8
+   },
+   "telephone": {
+    "distance": "5.16 meters",
+    "closeness rank": 9
+   },
+   "table lamp": {
+    "distance": "5.23 meters",
+    "closeness rank": 10
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table lamp": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "0.55 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "0.56 meters",
+    "closeness rank": 5
+   },
+   "sofa": {
+    "distance": "0.86 meters",
+    "closeness rank": 6
+   },
+   "tv": {
+    "distance": "0.92 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.01 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.0 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "4.83 meters",
+    "closeness rank": 10
+   }
+  },
+  "table lamp": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.14 meters",
+    "closeness rank": 3
+   },
+   "bed": {
+    "distance": "1.22 meters",
+    "closeness rank": 4
+   },
+   "blanket": {
+    "distance": "1.26 meters",
+    "closeness rank": 5
+   },
+   "tv": {
+    "distance": "1.31 meters",
+    "closeness rank": 6
+   },
+   "sofa": {
+    "distance": "1.69 meters",
+    "closeness rank": 7
+   },
+   "pillow": {
+    "distance": "1.8 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "3.46 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "5.23 meters",
+    "closeness rank": 10
+   }
+  },
+  "pillow": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "blanket": {
+    "distance": "0.57 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.01 meters",
+    "closeness rank": 4
+   },
+   "chair": {
+    "distance": "1.24 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.58 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.8 meters",
+    "closeness rank": 7
+   },
+   "toilet": {
+    "distance": "2.36 meters",
+    "closeness rank": 8
+   },
+   "tv": {
+    "distance": "2.76 meters",
+    "closeness rank": 9
+   },
+   "door": {
+    "distance": "3.02 meters",
+    "closeness rank": 10
+   }
+  },
+  "bed": {
+   "blanket": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "pillow": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.42 meters",
+    "closeness rank": 3
+   },
+   "sofa": {
+    "distance": "0.47 meters",
+    "closeness rank": 4
+   },
+   "table": {
+    "distance": "0.55 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.01 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.22 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.41 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.59 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "2.07 meters",
+    "closeness rank": 10
+   }
+  },
+  "blanket": {
+   "bed": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.45 meters",
+    "closeness rank": 2
+   },
+   "sofa": {
+    "distance": "0.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "0.56 meters",
+    "closeness rank": 4
+   },
+   "pillow": {
+    "distance": "0.57 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "1.05 meters",
+    "closeness rank": 6
+   },
+   "table lamp": {
+    "distance": "1.26 meters",
+    "closeness rank": 7
+   },
+   "tv": {
+    "distance": "1.52 meters",
+    "closeness rank": 8
+   },
+   "door": {
+    "distance": "1.62 meters",
+    "closeness rank": 9
+   },
+   "toilet": {
+    "distance": "2.06 meters",
+    "closeness rank": 10
+   }
+  }
+ },
+ "appearance order": ["chair", "sofa", "door", "tv", "telephone", "toilet", "table", "table lamp", "pillow", "bed", "blanket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/7831862f02.json b/data/spatial codes/ground truth/explicit/7831862f02.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fc904cb2c38a5af73e5a848076be17186d93b0
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/7831862f02.json	
@@ -0,0 +1,222 @@
+{
+ "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": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.95 meters",
+      "y coordinate": "6.16 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.88 meters",
+      "y coordinate": "6.08 meters",
+      "height above floor": "1.56 meters"
+     },
+     "longest dimension": "3.07 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.45 meters",
+      "y coordinate": "5.92 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "3.08 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.28 meters",
+      "y coordinate": "5.94 meters",
+      "height above floor": "1.55 meters"
+     },
+     "longest dimension": "3.09 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.32 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.37 meters",
+      "y coordinate": "0.22 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.99 meters"
+    }
+   ]
+  },
+  "sofa": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "5.29 meters",
+      "y coordinate": "3.46 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.08 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "4.82 meters",
+      "height above floor": "2.52 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "1.72 meters",
+      "height above floor": "2.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.16 meters",
+      "y coordinate": "2.47 meters",
+      "height above floor": "2.66 meters"
+     },
+     "longest dimension": "0.9 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "44.0 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "ceiling light": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "4.71 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "ceiling light": {
+    "distance": "1.86 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.93 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "4.71 meters",
+    "closeness rank": 3
+   }
+  },
+  "sofa": {
+   "ceiling light": {
+    "distance": "1.45 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.88 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.93 meters",
+    "closeness rank": 3
+   }
+  },
+  "ceiling light": {
+   "door": {
+    "distance": "0.76 meters",
+    "closeness rank": 1
+   },
+   "sofa": {
+    "distance": "1.45 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.86 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["door", "chair", "sofa", "ceiling light"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/7b6477cb95.json b/data/spatial codes/ground truth/explicit/7b6477cb95.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb4245cc9f4f0e71041fe1bbdedb4f5056734516
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/7b6477cb95.json	
@@ -0,0 +1,1124 @@
+{
+ "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": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "2.98 meters"
+     },
+     "longest dimension": "1.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.89 meters",
+      "y coordinate": "1.1 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "1.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.09 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.3 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.55 meters",
+      "y coordinate": "3.33 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.81 meters",
+      "y coordinate": "0.4 meters",
+      "height above floor": "1.61 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.77 meters",
+      "y coordinate": "4.02 meters",
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+    "distance": "0.58 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.64 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "0.74 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.06 meters",
+    "closeness rank": 9
+   },
+   "bookshelf": {
+    "distance": "1.89 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "1.97 meters",
+    "closeness rank": 11
+   },
+   "ceiling light": {
+    "distance": "2.05 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "2.8 meters",
+    "closeness rank": 13
+   }
+  },
+  "cup": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.03 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.1 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "0.22 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "power strip": {
+    "distance": "0.48 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.66 meters",
+    "closeness rank": 7
+   },
+   "heater": {
+    "distance": "1.23 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.25 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "bookshelf": {
+    "distance": "2.3 meters",
+    "closeness rank": 11
+   },
+   "trash can": {
+    "distance": "2.45 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.16 meters",
+    "closeness rank": 13
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.04 meters",
+    "closeness rank": 2
+   },
+   "telephone": {
+    "distance": "0.12 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 4
+   },
+   "cup": {
+    "distance": "0.46 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "0.72 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "0.74 meters",
+    "closeness rank": 7
+   },
+   "power strip": {
+    "distance": "0.97 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "1.35 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.01 meters",
+    "closeness rank": 10
+   },
+   "trash can": {
+    "distance": "2.73 meters",
+    "closeness rank": 11
+   },
+   "bookshelf": {
+    "distance": "2.89 meters",
+    "closeness rank": 12
+   },
+   "door": {
+    "distance": "3.73 meters",
+    "closeness rank": 13
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "whiteboard", "monitor", "heater", "telephone", "power strip", "chair", "table", "trash can", "door", "bookshelf", "keyboard", "cup", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/7bc286c1b6.json b/data/spatial codes/ground truth/explicit/7bc286c1b6.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4f536ccc1f1e82fcd9e59d2db101eb0a68ba1b
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/7bc286c1b6.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": {
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.46 meters",
+      "y coordinate": "1.34 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.12 meters"
+    }
+   ]
+  },
+  "toilet": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.31 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.31 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "3.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "door": {
+   "toilet": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   }
+  },
+  "toilet": {
+   "door": {
+    "distance": "0.34 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["door", "toilet"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/825d228aec.json b/data/spatial codes/ground truth/explicit/825d228aec.json
new file mode 100644
index 0000000000000000000000000000000000000000..5676462478974ec9fd0008d32d4941990d2d7c25
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/825d228aec.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": {
+  "power strip": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.96 meters",
+      "y coordinate": "1.57 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.36 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.67 meters",
+      "y coordinate": "1.46 meters",
+      "height above floor": "0.03 meters"
+     },
+     "longest dimension": "0.26 meters"
+    }
+   ]
+  },
+  "trash can": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.33 meters",
+      "y coordinate": "0.48 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.37 meters"
+    }
+   ]
+  },
+  "printer": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.4 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.59 meters"
+     },
+     "longest dimension": "1.17 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.49 meters",
+      "y coordinate": "0.06 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.2 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "2.54 meters"
+    }
+   ]
+  },
+  "exhaust fan": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.05 meters",
+      "y coordinate": "1.68 meters",
+      "height above floor": "2.48 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.03 meters",
+      "y coordinate": "0.54 meters",
+      "height above floor": "2.46 meters"
+     },
+     "longest dimension": "0.15 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "power strip": {
+   "printer": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.39 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "1.3 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   }
+  },
+  "trash can": {
+   "table": {
+    "distance": "0.12 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "power strip": {
+    "distance": "0.72 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.57 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "2.92 meters",
+    "closeness rank": 5
+   }
+  },
+  "printer": {
+   "power strip": {
+    "distance": "0.03 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.18 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.16 meters",
+    "closeness rank": 3
+   },
+   "exhaust fan": {
+    "distance": "1.23 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "1.57 meters",
+    "closeness rank": 5
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.22 meters",
+    "closeness rank": 2
+   },
+   "exhaust fan": {
+    "distance": "1.07 meters",
+    "closeness rank": 3
+   },
+   "printer": {
+    "distance": "1.16 meters",
+    "closeness rank": 4
+   },
+   "power strip": {
+    "distance": "1.3 meters",
+    "closeness rank": 5
+   }
+  },
+  "table": {
+   "door": {
+    "distance": "0.07 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.12 meters",
+    "closeness rank": 2
+   },
+   "printer": {
+    "distance": "0.18 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "0.39 meters",
+    "closeness rank": 4
+   },
+   "exhaust fan": {
+    "distance": "1.77 meters",
+    "closeness rank": 5
+   }
+  },
+  "exhaust fan": {
+   "door": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "printer": {
+    "distance": "1.23 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   },
+   "power strip": {
+    "distance": "2.46 meters",
+    "closeness rank": 4
+   },
+   "trash can": {
+    "distance": "2.92 meters",
+    "closeness rank": 5
+   }
+  }
+ },
+ "appearance order": ["power strip", "trash can", "printer", "door", "table", "exhaust fan"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/99fa5c25e1.json b/data/spatial codes/ground truth/explicit/99fa5c25e1.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d2aec1b3fb5680be5b0b07df888aff4e54a89e1
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/99fa5c25e1.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": {
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.38 meters",
+      "y coordinate": "1.69 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.1 meters"
+    }
+   ]
+  },
+  "bucket": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.98 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "0.16 meters"
+     },
+     "longest dimension": "0.32 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.03 meters",
+      "y coordinate": "0.6 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.85 meters",
+      "y coordinate": "4.4 meters",
+      "height above floor": "0.14 meters"
+     },
+     "longest dimension": "0.33 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.87 meters",
+      "y coordinate": "4.74 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "27.2 square meters"
+ },
+ "closest classes distance meters from": {
+  "chair": {
+   "bucket": {
+    "distance": "2.27 meters",
+    "closeness rank": 1
+   }
+  },
+  "bucket": {
+   "chair": {
+    "distance": "2.27 meters",
+    "closeness rank": 1
+   }
+  }
+ },
+ "appearance order": ["chair", "bucket"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/a24f64f7fb.json b/data/spatial codes/ground truth/explicit/a24f64f7fb.json
new file mode 100644
index 0000000000000000000000000000000000000000..9adddbbc886a9a287439bf67fb7e25dac6595f4a
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/a24f64f7fb.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": {
+  "monitor": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.04 meters",
+      "y coordinate": "1.04 meters",
+      "height above floor": "1.22 meters"
+     },
+     "longest dimension": "0.91 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.83 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "1.33 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.18 meters",
+      "y coordinate": "1.7 meters",
+      "height above floor": "1.04 meters"
+     },
+     "longest dimension": "2.07 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.14 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "1.24 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.07 meters",
+      "y coordinate": "0.63 meters",
+      "height above floor": "0.4 meters"
+     },
+     "longest dimension": "0.8 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.09 meters",
+      "y coordinate": "1.51 meters",
+      "height above floor": "2.5 meters"
+     },
+     "longest dimension": "0.32 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.29 meters",
+      "y coordinate": "1.12 meters",
+      "height above floor": "0.78 meters"
+     },
+     "longest dimension": "0.46 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.23 meters",
+      "y coordinate": "1.42 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "10.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "monitor": {
+   "table": {
+    "distance": "0.1 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.28 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.32 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "chair": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.07 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "1.46 meters",
+    "closeness rank": 6
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "1.46 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.47 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.51 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.34 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "2.46 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "2.64 meters",
+    "closeness rank": 6
+   }
+  },
+  "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": "0.1 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "1.51 meters",
+    "closeness rank": 5
+   },
+   "ceiling light": {
+    "distance": "1.62 meters",
+    "closeness rank": 6
+   }
+  },
+  "ceiling light": {
+   "chair": {
+    "distance": "1.07 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "1.32 meters",
+    "closeness rank": 2
+   },
+   "door": {
+    "distance": "1.47 meters",
+    "closeness rank": 3
+   },
+   "table": {
+    "distance": "1.62 meters",
+    "closeness rank": 4
+   },
+   "computer mouse": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "keyboard": {
+    "distance": "1.73 meters",
+    "closeness rank": 6
+   }
+  },
+  "keyboard": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "computer mouse": {
+    "distance": "0.02 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.73 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.34 meters",
+    "closeness rank": 6
+   }
+  },
+  "computer mouse": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.02 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.13 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.28 meters",
+    "closeness rank": 4
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 5
+   },
+   "door": {
+    "distance": "2.46 meters",
+    "closeness rank": 6
+   }
+  }
+ },
+ "appearance order": ["monitor", "chair", "door", "table", "ceiling light", "keyboard", "computer mouse"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/a980334473.json b/data/spatial codes/ground truth/explicit/a980334473.json
new file mode 100644
index 0000000000000000000000000000000000000000..815b56f5d19e9921f91a1ad0160d92e5752ce147
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/a980334473.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": {
+  "ceiling light": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "1.17 meters",
+      "height above floor": "2.64 meters"
+     },
+     "longest dimension": "1.62 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "1.36 meters",
+      "height above floor": "0.41 meters"
+     },
+     "longest dimension": "0.82 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.23 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "0.68 meters"
+     },
+     "longest dimension": "2.56 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.54 meters",
+      "y coordinate": "0.05 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.1 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "6.3 square meters"
+ },
+ "closest classes distance meters from": {
+  "ceiling light": {
+   "door": {
+    "distance": "1.09 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "1.69 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "chair": {
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.77 meters",
+    "closeness rank": 3
+   }
+  },
+  "table": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.2 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.69 meters",
+    "closeness rank": 3
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.2 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "1.02 meters",
+    "closeness rank": 2
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 3
+   }
+  }
+ },
+ "appearance order": ["ceiling light", "chair", "table", "door"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/ac48a9b736.json b/data/spatial codes/ground truth/explicit/ac48a9b736.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa3d4796c562c136a49e866ed8da6f13d16231e9
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/ac48a9b736.json	
@@ -0,0 +1,761 @@
+{
+ "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": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "15.21 meters",
+      "y coordinate": "4.86 meters",
+      "height above floor": "0.29 meters"
+     },
+     "longest dimension": "0.57 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "12.44 meters",
+      "y coordinate": "7.71 meters",
+      "height above floor": "0.47 meters"
+     },
+     "longest dimension": "0.93 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.71 meters",
+      "y coordinate": "12.22 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "1.1 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.05 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.53 meters"
+     },
+     "longest dimension": "1.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.42 meters",
+      "y coordinate": "4.55 meters",
+      "height above floor": "0.52 meters"
+     },
+     "longest dimension": "1.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.15 meters",
+      "y coordinate": "5.22 meters",
+      "height above floor": "0.46 meters"
+     },
+     "longest dimension": "0.9 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.92 meters",
+      "y coordinate": "10.06 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.93 meters",
+      "y coordinate": "11.94 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.28 meters",
+      "y coordinate": "6.44 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "0.82 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "10.68 meters",
+      "y coordinate": "12.89 meters",
+      "height above floor": "0.45 meters"
+     },
+     "longest dimension": "0.88 meters"
+    }
+   ]
+  },
+  "table": {
+   "count": 8,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.28 meters",
+      "y coordinate": "9.61 meters",
+      "height above floor": "0.44 meters"
+     },
+     "longest dimension": "1.48 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.26 meters",
+      "y coordinate": "11.58 meters",
+      "height above floor": "0.56 meters"
+     },
+     "longest dimension": "2.02 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "8.04 meters",
+      "y coordinate": "12.49 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.83 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.93 meters",
+      "y coordinate": "6.44 meters",
+      "height above floor": "0.38 meters"
+     },
+     "longest dimension": "1.22 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "1.54 meters",
+      "height above floor": "0.7 meters"
+     },
+     "longest dimension": "1.0 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "13.56 meters",
+      "y coordinate": "7.34 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.81 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.22 meters",
+      "y coordinate": "3.91 meters",
+      "height above floor": "0.49 meters"
+     },
+     "longest dimension": "4.04 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.64 meters",
+      "y coordinate": "10.58 meters",
+      "height above floor": "0.39 meters"
+     },
+     "longest dimension": "1.81 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "9.48 meters",
+      "y coordinate": "13.73 meters",
+      "height above floor": "1.06 meters"
+     },
+     "longest dimension": "2.11 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.86 meters",
+      "y coordinate": "11.61 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.23 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "15.24 meters",
+      "y coordinate": "5.81 meters",
+      "height above floor": "1.41 meters"
+     },
+     "longest dimension": "2.8 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.45 meters",
+      "y coordinate": "2.96 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.94 meters",
+      "y coordinate": "4.35 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.76 meters",
+      "y coordinate": "4.96 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.66 meters",
+      "y coordinate": "11.97 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "13.33 meters",
+      "y coordinate": "7.42 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.99 meters",
+      "y coordinate": "10.44 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.45 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 9,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.41 meters",
+      "y coordinate": "12.28 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.59 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "13.44 meters",
+      "y coordinate": "7.72 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.02 meters",
+      "y coordinate": "5.11 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.6 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.28 meters",
+      "y coordinate": "4.44 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.46 meters",
+      "y coordinate": "3.81 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.66 meters",
+      "y coordinate": "3.23 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.75 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.98 meters"
+     },
+     "longest dimension": "0.56 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.85 meters",
+      "y coordinate": "10.78 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.58 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.94 meters",
+      "y coordinate": "12.47 meters",
+      "height above floor": "0.99 meters"
+     },
+     "longest dimension": "0.54 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.98 meters",
+      "y coordinate": "12.11 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.12 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.4 meters",
+      "y coordinate": "10.46 meters",
+      "height above floor": "0.76 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.48 meters",
+      "y coordinate": "1.86 meters",
+      "height above floor": "0.43 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "12.13 meters",
+      "y coordinate": "3.54 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "14.3 meters",
+      "y coordinate": "4.34 meters",
+      "height above floor": "0.42 meters"
+     },
+     "longest dimension": "1.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "9.82 meters",
+      "y coordinate": "2.73 meters",
+      "height above floor": "0.37 meters"
+     },
+     "longest dimension": "1.61 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "2.18 meters",
+      "y coordinate": "4.66 meters",
+      "height above floor": "1.52 meters"
+     },
+     "longest dimension": "1.83 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "128.5 square meters"
+ },
+ "closest classes distance meters from": {
+  "trash can": {
+   "heater": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "1.91 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "2.78 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "2.91 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "3.48 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "10.0 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "12.56 meters",
+    "closeness rank": 8
+   }
+  },
+  "chair": {
+   "computer mouse": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.01 meters",
+    "closeness rank": 4
+   },
+   "heater": {
+    "distance": "0.58 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.59 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "0.91 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "3.48 meters",
+    "closeness rank": 8
+   }
+  },
+  "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
+   },
+   "door": {
+    "distance": "0.15 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "0.27 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.5 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "1.91 meters",
+    "closeness rank": 8
+   }
+  },
+  "door": {
+   "table": {
+    "distance": "0.15 meters",
+    "closeness rank": 1
+   },
+   "trash can": {
+    "distance": "0.32 meters",
+    "closeness rank": 2
+   },
+   "monitor": {
+    "distance": "0.64 meters",
+    "closeness rank": 3
+   },
+   "heater": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "chair": {
+    "distance": "0.91 meters",
+    "closeness rank": 6
+   },
+   "computer mouse": {
+    "distance": "0.92 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "6.11 meters",
+    "closeness rank": 8
+   }
+  },
+  "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": "0.09 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.88 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.13 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.78 meters",
+    "closeness rank": 8
+   }
+  },
+  "monitor": {
+   "keyboard": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.01 meters",
+    "closeness rank": 3
+   },
+   "computer mouse": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.64 meters",
+    "closeness rank": 5
+   },
+   "heater": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.7 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "2.91 meters",
+    "closeness rank": 8
+   }
+  },
+  "computer mouse": {
+   "chair": {
+    "distance": "0.0 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.0 meters",
+    "closeness rank": 2
+   },
+   "keyboard": {
+    "distance": "0.09 meters",
+    "closeness rank": 3
+   },
+   "monitor": {
+    "distance": "0.2 meters",
+    "closeness rank": 4
+   },
+   "door": {
+    "distance": "0.92 meters",
+    "closeness rank": 5
+   },
+   "whiteboard": {
+    "distance": "5.09 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "7.73 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "10.0 meters",
+    "closeness rank": 8
+   }
+  },
+  "heater": {
+   "trash can": {
+    "distance": "0.05 meters",
+    "closeness rank": 1
+   },
+   "table": {
+    "distance": "0.5 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.58 meters",
+    "closeness rank": 3
+   },
+   "door": {
+    "distance": "0.73 meters",
+    "closeness rank": 4
+   },
+   "keyboard": {
+    "distance": "1.13 meters",
+    "closeness rank": 5
+   },
+   "monitor": {
+    "distance": "1.25 meters",
+    "closeness rank": 6
+   },
+   "whiteboard": {
+    "distance": "1.33 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "7.73 meters",
+    "closeness rank": 8
+   }
+  },
+  "whiteboard": {
+   "table": {
+    "distance": "0.27 meters",
+    "closeness rank": 1
+   },
+   "chair": {
+    "distance": "0.59 meters",
+    "closeness rank": 2
+   },
+   "heater": {
+    "distance": "1.33 meters",
+    "closeness rank": 3
+   },
+   "keyboard": {
+    "distance": "1.4 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.7 meters",
+    "closeness rank": 5
+   },
+   "computer mouse": {
+    "distance": "5.09 meters",
+    "closeness rank": 6
+   },
+   "door": {
+    "distance": "6.11 meters",
+    "closeness rank": 7
+   },
+   "trash can": {
+    "distance": "12.56 meters",
+    "closeness rank": 8
+   }
+  }
+ },
+ "appearance order": ["trash can", "chair", "table", "door", "keyboard", "monitor", "computer mouse", "heater", "whiteboard"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c4c04e6d6c.json b/data/spatial codes/ground truth/explicit/c4c04e6d6c.json
new file mode 100644
index 0000000000000000000000000000000000000000..4411177679c1389866b8d794f37b463bb1bfecba
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c4c04e6d6c.json	
@@ -0,0 +1,431 @@
+{
+ "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": {
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.74 meters",
+      "y coordinate": "7.3 meters",
+      "height above floor": "1.63 meters"
+     },
+     "longest dimension": "0.21 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "7.97 meters",
+      "y coordinate": "0.18 meters",
+      "height above floor": "1.12 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.8 meters",
+      "y coordinate": "0.12 meters",
+      "height above floor": "1.11 meters"
+     },
+     "longest dimension": "2.01 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.69 meters",
+      "y coordinate": "7.23 meters",
+      "height above floor": "1.13 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 36,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "6.31 meters",
+      "y coordinate": "2.98 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.55 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.32 meters",
+      "y coordinate": "3.56 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "0.98 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.21 meters",
+      "y coordinate": "3.66 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.61 meters",
+      "y coordinate": "6.12 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.55 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.73 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.7 meters",
+      "y coordinate": "4.24 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "1.24 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.29 meters",
+      "y coordinate": "4.2 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.87 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.45 meters",
+      "y coordinate": "5.33 meters",
+      "height above floor": "0.74 meters"
+     },
+     "longest dimension": "0.54 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.42 meters",
+      "y coordinate": "1.19 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.32 meters",
+      "y coordinate": "4.88 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.68 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.75 meters",
+      "y coordinate": "1.43 meters",
+      "height above floor": "0.71 meters"
+     },
+     "longest dimension": "0.49 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.1 meters",
+      "y coordinate": "2.49 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.41 meters",
+      "y coordinate": "3.48 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.79 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.7 meters",
+      "y coordinate": "4.12 meters",
+      "height above floor": "0.6 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.12 meters",
+      "y coordinate": "6.79 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.53 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.28 meters",
+      "y coordinate": "6.15 meters",
+      "height above floor": "0.57 meters"
+     },
+     "longest dimension": "0.78 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.9 meters",
+      "y coordinate": "5.22 meters",
+      "height above floor": "0.64 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.54 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.97 meters",
+      "y coordinate": "1.4 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.7 meters",
+      "y coordinate": "4.94 meters",
+      "height above floor": "0.61 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.31 meters",
+      "y coordinate": "5.59 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.59 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.75 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.11 meters",
+      "y coordinate": "1.2 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.64 meters",
+      "y coordinate": "4.78 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.65 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.92 meters",
+      "y coordinate": "5.66 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "0.86 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.24 meters",
+      "y coordinate": "6.95 meters",
+      "height above floor": "0.62 meters"
+     },
+     "longest dimension": "0.77 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "5.51 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.71 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.3 meters",
+      "y coordinate": "1.3 meters",
+      "height above floor": "0.63 meters"
+     },
+     "longest dimension": "0.67 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.75 meters",
+      "y coordinate": "2.91 meters",
+      "height above floor": "0.72 meters"
+     },
+     "longest dimension": "0.51 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.69 meters",
+      "y coordinate": "1.23 meters",
+      "height above floor": "0.73 meters"
+     },
+     "longest dimension": "0.46 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "7.31 meters",
+      "y coordinate": "2.9 meters",
+      "height above floor": "0.58 meters"
+     },
+     "longest dimension": "0.76 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "6.2 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.65 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.65 meters",
+      "y coordinate": "3.6 meters",
+      "height above floor": "0.66 meters"
+     },
+     "longest dimension": "0.66 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.79 meters",
+      "y coordinate": "2.39 meters",
+      "height above floor": "0.69 meters"
+     },
+     "longest dimension": "0.52 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "2.97 meters",
+      "height above floor": "0.67 meters"
+     },
+     "longest dimension": "0.68 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "67.1 square meters"
+ },
+ "closest classes distance meters from": {
+  "telephone": {
+   "chair": {
+    "distance": "1.43 meters",
+    "closeness rank": 1
+   },
+   "door": {
+    "distance": "6.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "door": {
+   "chair": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "6.43 meters",
+    "closeness rank": 2
+   }
+  },
+  "chair": {
+   "door": {
+    "distance": "0.81 meters",
+    "closeness rank": 1
+   },
+   "telephone": {
+    "distance": "1.43 meters",
+    "closeness rank": 2
+   }
+  }
+ },
+ "appearance order": ["telephone", "door", "chair"]
+}
\ No newline at end of file
diff --git a/data/spatial codes/ground truth/explicit/c50d2d1d42.json b/data/spatial codes/ground truth/explicit/c50d2d1d42.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2f8105d045bfcec6ec34fbe3096774f76fe9f2f
--- /dev/null
+++ b/data/spatial codes/ground truth/explicit/c50d2d1d42.json	
@@ -0,0 +1,1021 @@
+{
+ "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": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "1.31 meters",
+      "y coordinate": "0.82 meters",
+      "height above floor": "0.15 meters"
+     },
+     "longest dimension": "0.34 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "1.63 meters",
+      "y coordinate": "0.77 meters",
+      "height above floor": "0.17 meters"
+     },
+     "longest dimension": "0.34 meters"
+    }
+   ]
+  },
+  "heater": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.8 meters",
+      "y coordinate": "0.86 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "5.06 meters",
+      "y coordinate": "3.0 meters",
+      "height above floor": "0.34 meters"
+     },
+     "longest dimension": "1.18 meters"
+    }
+   ]
+  },
+  "computer tower": {
+   "count": 3,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.07 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "0.27 meters"
+     },
+     "longest dimension": "0.38 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.38 meters",
+      "y coordinate": "1.52 meters",
+      "height above floor": "0.22 meters"
+     },
+     "longest dimension": "0.44 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.64 meters",
+      "y coordinate": "2.69 meters",
+      "height above floor": "0.26 meters"
+     },
+     "longest dimension": "0.5 meters"
+    }
+   ]
+  },
+  "telephone": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.96 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.92 meters"
+     },
+     "longest dimension": "0.3 meters"
+    }
+   ]
+  },
+  "monitor": {
+   "count": 6,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.46 meters",
+      "y coordinate": "2.19 meters",
+      "height above floor": "1.09 meters"
+     },
+     "longest dimension": "0.7 meters"
+    },
+    {
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+      "y coordinate": "1.91 meters",
+      "height above floor": "1.0 meters"
+     },
+     "longest dimension": "0.64 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "1.97 meters",
+      "height above floor": "1.01 meters"
+     },
+     "longest dimension": "0.63 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "3.0 meters",
+      "height above floor": "2.44 meters"
+     },
+     "longest dimension": "0.61 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.88 meters",
+      "y coordinate": "2.23 meters",
+      "height above floor": "1.02 meters"
+     },
+     "longest dimension": "0.62 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "0.74 meters",
+      "y coordinate": "3.57 meters",
+      "height above floor": "2.42 meters"
+     },
+     "longest dimension": "0.42 meters"
+    }
+   ]
+  },
+  "headphones": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.36 meters",
+      "y coordinate": "2.71 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  },
+  "door": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.15 meters",
+      "y coordinate": "1.66 meters",
+      "height above floor": "1.05 meters"
+     },
+     "longest dimension": "2.11 meters"
+    }
+   ]
+  },
+  "ceiling light": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
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+      "y coordinate": "3.31 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.28 meters"
+    },
+    {
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+      "y coordinate": "2.97 meters",
+      "height above floor": "2.92 meters"
+     },
+     "longest dimension": "1.31 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "3.81 meters",
+      "y coordinate": "1.13 meters",
+      "height above floor": "2.9 meters"
+     },
+     "longest dimension": "1.25 meters"
+    },
+    {
+     "position": {
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+      "y coordinate": "1.53 meters",
+      "height above floor": "2.91 meters"
+     },
+     "longest dimension": "1.29 meters"
+    }
+   ]
+  },
+  "chair": {
+   "count": 4,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.6 meters",
+      "y coordinate": "0.87 meters",
+      "height above floor": "0.55 meters"
+     },
+     "longest dimension": "1.09 meters"
+    },
+    {
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+      "y coordinate": "3.04 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.96 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "2.35 meters",
+      "y coordinate": "1.62 meters",
+      "height above floor": "0.54 meters"
+     },
+     "longest dimension": "1.07 meters"
+    },
+    {
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+      "y coordinate": "3.23 meters",
+      "height above floor": "0.48 meters"
+     },
+     "longest dimension": "0.95 meters"
+    }
+   ]
+  },
+  "whiteboard": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.42 meters",
+      "y coordinate": "3.92 meters",
+      "height above floor": "1.49 meters"
+     },
+     "longest dimension": "2.02 meters"
+    }
+   ]
+  },
+  "keyboard": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "4.12 meters",
+      "y coordinate": "2.56 meters",
+      "height above floor": "0.77 meters"
+     },
+     "longest dimension": "0.47 meters"
+    },
+    {
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+      "y coordinate": "1.6 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.28 meters"
+    }
+   ]
+  },
+  "computer mouse": {
+   "count": 2,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "3.78 meters",
+      "y coordinate": "2.62 meters",
+      "height above floor": "0.79 meters"
+     },
+     "longest dimension": "0.15 meters"
+    },
+    {
+     "position": {
+      "x coordinate": "4.06 meters",
+      "y coordinate": "1.6 meters",
+      "height above floor": "0.75 meters"
+     },
+     "longest dimension": "0.11 meters"
+    }
+   ]
+  },
+  "coat hanger": {
+   "count": 1,
+   "instances": [
+    {
+     "position": {
+      "x coordinate": "0.49 meters",
+      "y coordinate": "0.79 meters",
+      "height above floor": "1.8 meters"
+     },
+     "longest dimension": "0.31 meters"
+    }
+   ]
+  }
+ },
+ "room": {
+  "floor area": "18.0 square meters"
+ },
+ "closest classes distance meters from": {
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+    "closeness rank": 1
+   },
+   "door": {
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+    "closeness rank": 2
+   },
+   "computer tower": {
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+   },
+   "coat hanger": {
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+   },
+   "monitor": {
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+   },
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+   },
+   "computer mouse": {
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+   },
+   "ceiling light": {
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+    "closeness rank": 8
+   },
+   "heater": {
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+    "closeness rank": 9
+   },
+   "headphones": {
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+    "closeness rank": 10
+   },
+   "telephone": {
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+    "closeness rank": 11
+   },
+   "whiteboard": {
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+    "closeness rank": 12
+   }
+  },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+    "closeness rank": 10
+   },
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+    "closeness rank": 11
+   },
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+    "closeness rank": 12
+   }
+  },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   },
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+   }
+  },
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+   },
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+   },
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+   }
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+   },
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+   },
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+   },
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+   "heater": {
+    "distance": "0.61 meters",
+    "closeness rank": 6
+   },
+   "telephone": {
+    "distance": "0.85 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "trash can": {
+    "distance": "2.04 meters",
+    "closeness rank": 9
+   },
+   "ceiling light": {
+    "distance": "2.05 meters",
+    "closeness rank": 10
+   },
+   "coat hanger": {
+    "distance": "3.25 meters",
+    "closeness rank": 11
+   },
+   "door": {
+    "distance": "3.39 meters",
+    "closeness rank": 12
+   }
+  },
+  "computer mouse": {
+   "keyboard": {
+    "distance": "0.06 meters",
+    "closeness rank": 1
+   },
+   "monitor": {
+    "distance": "0.15 meters",
+    "closeness rank": 2
+   },
+   "chair": {
+    "distance": "0.24 meters",
+    "closeness rank": 3
+   },
+   "computer tower": {
+    "distance": "0.32 meters",
+    "closeness rank": 4
+   },
+   "headphones": {
+    "distance": "0.37 meters",
+    "closeness rank": 5
+   },
+   "telephone": {
+    "distance": "0.69 meters",
+    "closeness rank": 6
+   },
+   "heater": {
+    "distance": "0.75 meters",
+    "closeness rank": 7
+   },
+   "whiteboard": {
+    "distance": "1.12 meters",
+    "closeness rank": 8
+   },
+   "ceiling light": {
+    "distance": "2.02 meters",
+    "closeness rank": 9
+   },
+   "trash can": {
+    "distance": "2.37 meters",
+    "closeness rank": 10
+   },
+   "door": {
+    "distance": "3.47 meters",
+    "closeness rank": 11
+   },
+   "coat hanger": {
+    "distance": "3.6 meters",
+    "closeness rank": 12
+   }
+  },
+  "coat hanger": {
+   "door": {
+    "distance": "0.39 meters",
+    "closeness rank": 1
+   },
+   "ceiling light": {
+    "distance": "1.09 meters",
+    "closeness rank": 2
+   },
+   "trash can": {
+    "distance": "1.52 meters",
+    "closeness rank": 3
+   },
+   "chair": {
+    "distance": "1.59 meters",
+    "closeness rank": 4
+   },
+   "monitor": {
+    "distance": "1.92 meters",
+    "closeness rank": 5
+   },
+   "computer tower": {
+    "distance": "2.78 meters",
+    "closeness rank": 6
+   },
+   "keyboard": {
+    "distance": "3.25 meters",
+    "closeness rank": 7
+   },
+   "computer mouse": {
+    "distance": "3.6 meters",
+    "closeness rank": 8
+   },
+   "whiteboard": {
+    "distance": "3.69 meters",
+    "closeness rank": 9
+   },
+   "headphones": {
+    "distance": "4.1 meters",
+    "closeness rank": 10
+   },
+   "heater": {
+    "distance": "4.12 meters",
+    "closeness rank": 11
+   },
+   "telephone": {
+    "distance": "4.28 meters",
+    "closeness rank": 12
+   }
+  }
+ },
+ "appearance order": ["trash can", "heater", "computer tower", "telephone", "monitor", "headphones", "door", "ceiling light", "chair", "whiteboard", "keyboard", "computer mouse", "coat hanger"]
+}
\ No newline at end of file